KR102397447B1 - End tool for Surgical instrument - Google Patents

Abstract

The present invention relates to an end tool of a surgical instrument, and more particularly, to an end tool of a surgical instrument that can be operated manually for use in laparoscopic surgery or various various surgeries.

Description

End tool for Surgical instrument

The present invention relates to an end tool of a surgical instrument, and more particularly, to an end tool of a surgical instrument that can be operated manually for use in laparoscopic surgery or various various surgeries.

Medically, surgery refers to the treatment of diseases by cutting, slitting, or manipulating skin, mucous membranes, or other tissues using medical devices. In particular, open surgery in which the skin of the surgical site is incised and opened to treat, mold, or remove organs, etc., causes problems such as bleeding, side effects, patient pain, and scarring. Therefore, recently, surgery using a robot or surgery performed by inserting only a medical device, for example, a laparoscope, a surgical instrument, a microsurgery microscope, etc. by forming a predetermined hole in the skin, is in the spotlight as an alternative.

A surgical instrument is a tool for operating a surgical site by manually manipulating an end tool provided at one end of a shaft that passes through a hole punched in the skin by a doctor using a predetermined driving unit or using a robot arm. . The end tool provided in the surgical instrument performs a rotation operation, a clamping operation, a cutting operation, etc. through a predetermined structure.

However, there was a problem in that the conventional surgical instrument is not easy to access the surgical site and perform various surgical operations because the end tool portion is not bent. To compensate for this, surgical instruments capable of bending the end tool have been developed, but the operation of the manipulation unit for bending the end tool or performing a surgical operation intuitively matches the operation of the actual end tool bending or surgical operation Therefore, there were problems that intuitive operation is not easy from the point of view of the operator, and it takes a long time to master the method of use.

The above-mentioned background art is technical information that the inventor possessed for the derivation of the present invention or acquired in the process of derivation of the present invention, and cannot necessarily be said to be a known technique disclosed to the general public prior to the filing of the present invention.

An object of the present invention is to solve the above problems, and to provide an end tool of a surgical instrument for intuitively matching the operation of the actual end tool bending or performing a surgical operation, and the operation of the corresponding manipulation unit aim to More specifically, for this purpose, an end tool having multiple degrees of freedom, a manipulation unit having a structure that enables intuitive manipulation of the end tool operation, and a method that transmits the driving force of the manipulation unit to the end tool so that the end tool can be operated according to the manipulation of the manipulation unit It provides a power transmission unit.

One embodiment of the present invention is a first jaw (jaw) and second jaw (jaw) rotatable independently of each other; Article 1 is coupled with the first set, is formed to be rotatable about a first axis, and the other end of Article 1 wire is coupled with the first coupling part of Article 1 wire to which one end of Article 1 wire is coupled, Article 1 J11 pulley on which the wire second coupling portion is formed; a J12 pulley and a J14 pulley formed on one side of the J11 pulley and rotatable about a second axis formed to form a predetermined angle with the first axis; Combined with the Article 2, formed to be rotatable about an axis that is substantially the same as or parallel to the first axis, and Article 2 wire that one end of the Article 2 wire is coupled to the Article 2 wire first coupling portion and Article 2 wire J21 pulley in which the second coupling part is formed with Article 2 wire to which the other end is coupled; Formed on one side of the J21 pulley, the J22 pulley and J24 pulley formed to be rotatable about an axis substantially the same or parallel to the second axis; includes, Article 1 wire is the J12 pulley, J11 pulley , J14 is formed to contact at least a portion of the pulley, Article 2 provides an end tool of a surgical instrument, characterized in that the J22 pulley, J21 pulley, J24 pulley and at least a portion is formed to contact.

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

According to the present invention as described above, since the operation direction of the operation unit by the operator and the operation direction of the end tool are intuitively the same direction, the operator's convenience is improved and the accuracy, reliability, and speed of the operation are improved. .

1a is a conceptual diagram of a pitch motion of a conventional surgical instrument, and FIG. 1b is a conceptual diagram of a yaw motion.
1c is a conceptual diagram of a pitch motion of another conventional surgical instrument, and FIG. 1d is a conceptual diagram of a yaw motion.
1e is a conceptual diagram of a pitch motion of a surgical instrument according to the present invention, and FIG. 1f is a conceptual diagram of a yaw motion.
Figure 2 is a perspective view showing a surgical instrument according to the first embodiment of the present invention.
Figure 3 is a side view of the surgical instrument of Figure 2
4 and 5 are perspective views illustrating the end tool of the surgical instrument of FIG. 2 .
Figure 6a is a plan view showing the end tool of the surgical instrument of Figure 2;
Figure 6b is a plan view showing the end tool of a conventional surgical instrument.
Figure 6c is a view showing a modified example of the end tool of Figure 6a.
Figure 6d is a view showing a modified example of the end tool of Figure 6a.
7A and 7B are perspective views illustrating a manipulation unit of the surgical instrument of FIG. 2 .
8 is a diagram schematically illustrating only the configuration of the pulley and wire constituting the joint of the surgical instrument according to an embodiment of the present invention shown in FIG. 7 .
9 is a diagram showing the configuration of pulleys and wires related to the actuation operation and yaw operation of the surgical instrument according to an embodiment of the present invention shown in FIG. 7 for each of Articles 1 and 2, respectively.
10 is a perspective view showing a yaw operation of the surgical instrument of FIG. 7 .
11 is a diagram illustrating the configuration of the pulley and wire related to the pitch operation of the surgical instrument according to an embodiment of the present invention shown in FIG. 7 by unraveling for each of Articles 1 and 2.
12 is a perspective view illustrating a pitch operation of the surgical instrument of FIG. 7 .
13 is a view showing an example of a direct type joint of the yaw joint.
14 is a view showing an example of an indirect joint of the yaw joint.
15 is a diagram illustrating an example of an indirect joint of a pitch joint.
16 is a diagram illustrating an example of a direct type joint of a pitch joint.
17 is a diagram showing the configuration of the pulley and wire associated with the operation of Article 1 of the surgical instrument according to an embodiment of the present invention shown in FIG. 9 and modifications thereof.
18 is a view showing another modified example of the embodiment disclosed in FIG. 17 .
19 is a view showing another modified example of the embodiment disclosed in FIG.
20 is a view showing another modified example of the embodiment disclosed in FIG. 17 .
21 is a diagram illustrating another modified example of the embodiment disclosed in FIG. 17 .
22 is a view showing another modified example of the embodiment disclosed in FIG. 17 .
23 is a diagram illustrating another modified example of the embodiment disclosed in FIG. 17 .
24 is a diagram illustrating another modified example of the embodiment disclosed in FIG. 17 .
25 is a diagram illustrating another modified example of the embodiment disclosed in FIG. 17 .
26 is a diagram illustrating another modified example of the embodiment disclosed in FIG. 17 .
27 is a diagram illustrating another modified example of the embodiment disclosed in FIG. 17 .
28 is a view showing another modified example of the embodiment disclosed in FIG. 8 .
29 is a view showing another modified example of the embodiment disclosed in FIG. 16 .
30 and 31 are diagrams illustrating a modified example related to insulation.
32 is a perspective view illustrating a surgical instrument according to a second embodiment of the present invention.
33 is an internal perspective view of the surgical instrument of FIG. 32 .
34 is a side view of the surgical instrument of FIG. 33 .
35 and 36 are perspective views illustrating a manipulation unit of the surgical instrument of FIG. 33 .
37 and 38 are perspective views illustrating a yaw operation of the surgical instrument of FIG. 33 .
39 and 40 are perspective views illustrating an actuation operation of the surgical instrument of FIG. 33 .
41 is a perspective view showing a surgical instrument according to a third embodiment of the present invention.
Figure 42 is a side view of the surgical instrument of Figure 41.
43 is a perspective view showing the operation unit of the surgical instrument of FIG. 42 .
44 and 45 are perspective views illustrating the yaw operation of the surgical instrument of FIG. 41 .
46 and 47 are perspective views illustrating an actuation operation of the surgical instrument of FIG. 41 .
48 is a perspective view illustrating a yaw operation of a surgical instrument according to a fourth embodiment of the present invention.
49 is a view showing an actuation operation of a surgical instrument according to a fourth embodiment of the present invention.
50 is a perspective view showing a surgical instrument according to a fifth embodiment of the present invention.
Figure 51 is a side view of the surgical instrument of Figure 50.
52 and 53 are perspective views illustrating the operation unit of the surgical instrument of FIG. 51 .
54 and 55 are perspective views illustrating a yaw operation of the surgical instrument of FIG. 50 .
56 is a perspective view showing a surgical instrument according to a sixth embodiment of the present invention.
57 is a perspective view showing a manipulation unit of the surgical instrument of FIG. 56 .
58 is an internal perspective view showing the wiring structure of the surgical instrument of FIG.
59 is a perspective view illustrating a yaw operation of the surgical instrument of FIG. 56 .
Figure 60 is a perspective view showing the pitch operation of the surgical instrument of Figure 56.
Figure 61 is a perspective view showing a surgical instrument according to the seventh embodiment of the present invention.
62 is a side view of the surgical instrument of FIG.
63 and 64 are perspective views illustrating a manipulation unit of the surgical instrument of FIG. 61 .
65 is an internal perspective view showing a wiring structure as an internal perspective view of the surgical instrument of FIG.
FIG. 66 is an enlarged view of part A of FIG. 65 .
67 is a cross-sectional view taken along line CC' of FIG. 66;
68 is a perspective view illustrating a yaw operation of the surgical instrument of FIG. 61 .
Figure 69 is a perspective view showing the pitch operation of the surgical instrument of Figure 61.
70 is a perspective view showing a surgical instrument according to an eighth embodiment of the present invention.
71 is a perspective view showing the operation unit of the surgical instrument of FIG. 70 .
72 is an internal perspective view showing the wiring structure as an internal perspective view of the surgical instrument of FIG. 70 .
73 is a perspective view illustrating a yaw operation of the surgical instrument of FIG. 70 .
74, 75 and 76 are perspective views illustrating the pitch operation of the surgical instrument of FIG. 70;
77 is an internal perspective view of a surgical instrument according to a ninth embodiment of the present invention.
78 is a perspective view illustrating the yaw operation of the surgical instrument of FIG. 77 .
79 is a perspective view illustrating the pitch operation of the surgical instrument of FIG. 77 .
80 is an internal perspective view of a surgical instrument according to a tenth embodiment of the present invention.
81 is an internal perspective view with the actuation gear removed in FIG. 80 .
82 is a perspective view illustrating a yaw operation of the surgical instrument of FIG. 81 .
83 is a perspective view illustrating a pitch operation of the surgical instrument of FIG. 81 .
84 is an internal perspective view of a surgical instrument according to an eleventh embodiment of the present invention.
85 is an internal perspective view with the actuation gear removed in FIG. 84 .
86 is a perspective view illustrating a yaw operation of the surgical instrument of FIG. 84 .
87 is a perspective view illustrating a pitch operation of the surgical instrument of FIG. 84 .
88 is a perspective view showing a surgical instrument according to a twelfth embodiment of the present invention.
89 is an internal perspective view showing the structure of the surgical instrument of FIG. 88, such as a wire.

Since the present invention can apply various transformations and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

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

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals, and the overlapping description thereof will be omitted. do it with

In addition, in describing various embodiments of the present invention, each embodiment does not have to be interpreted or practiced independently, and the technical ideas described in each embodiment may be interpreted or practiced in combination with other embodiments described individually. It should be understood that there is

<First embodiment of a surgical instrument>

In the surgical instrument according to the present invention, when the operation unit is rotated in any one direction for at least any one or more operations of pitch, yaw, and actuation, the end tool rotates in the same direction as the operation direction of the operation unit intuitively. characterized.

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

Referring to Figure 1a, in performing the pitch operation of a conventional surgical instrument, the end tool (120a) is formed in front of the rotation center (121a) of the end tool, the operation unit (110a) is the rotation center of the operation unit (111a) ) in a state formed behind the, when the operation unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operation unit 120a is rotated counterclockwise, the end tool 120a is also counterclockwise is formed to rotate. On the other hand, referring to Figure 1b, in performing the yaw operation of the conventional surgical instrument, the end tool (120a) is formed in front of the rotation center (121a) of the end tool, the operation unit (110a) is the rotation center of the operation unit In a state formed behind (111a), when the operation unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operation unit 120a is rotated counterclockwise, the end tool 120a is also half It is formed to rotate in a clockwise direction. In this case, from the point of view of the user's left and right directions, when the user moves the manipulation unit 110a to the left, the end tool 120a moves to the right, and when the user moves the manipulation unit 110a to the right, the end tool 120a is left will move to As a result, since the user's operation direction and the operation direction of the end tool are opposite to each other, there is a problem that may cause a user's error, and that the user's operation is not easy.

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

Referring to Figure 1c, some of the conventional surgical instruments are formed in a mirror-symmetrical shape, in performing a pitch operation, the end tool 120b is formed in front of the rotation center 121b of the end tool, and the operation unit ( 110b) in a state formed behind the rotation center 111b of the operation unit, when the operation unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and the operation unit 110b rotates counterclockwise When the end tool (120b) is formed to rotate in a clockwise direction. In this case, from the viewpoint of the rotation direction of the operation unit and the end tool, the rotation direction in which the user rotates the operation unit 110b and the rotation direction of the end tool 120b accordingly are opposite to each other. As a result, there were problems that may cause confusion in the operation direction to the user, and the joint motion is not intuitive and may cause mistakes. In addition, referring to FIG. 1D , in performing the yaw operation, the end tool 120b is formed in front of the rotation center 121b of the end tool, and the operation unit 110b is rearward than the rotation center 111b of the operation unit. In the formed state, when the operation unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operation unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. do. In this case, from the viewpoint of the rotation direction of the operation unit and the end tool, the rotation direction in which the user rotates the operation unit 110b and the rotation direction of the end tool 120b accordingly are opposite to each other. As a result, there were problems that may cause confusion in the operation direction to the user, and the joint motion is not intuitive and may cause mistakes. In this way, in the user's pitch or yaw operation of the conventional surgical instrument, the user's operation direction and the operation direction of the end tool do not coincide with each other in either the rotational direction or the left-right direction. This is because the configuration of the end tool and the manipulation unit in the joint configuration of the conventional surgical instrument is different from each other. That is, the end tool is formed in front of the center of rotation of the end tool, whereas the manipulation unit is formed behind the center of rotation of the manipulation unit. In order to solve this problem, the surgical instrument according to an embodiment of the present invention shown in FIGS. 1e and 1f forms the end tool 120c in front of the rotation center 121c of the end tool, and the operation unit ( 110c) is also formed in front of the rotation center 111c of the operation unit, so that the operation of the operation unit 110c and the end tool 120c intuitively matches. In other words, unlike the existing example of a configuration in which the manipulation unit approaches the user with respect to its joint (ie, away from the end tool) as shown in FIGS. 1A, 1B, 1C and 1D, FIGS. 1E and 1F . The surgical instrument according to an embodiment of the present invention shown in is formed so that at least a portion of the manipulation unit can be closer to the end tool (rather than its own joint) based on its own joint at any moment or more of the manipulation process will be.

In other words, in the case of a conventional surgical instrument such as FIGS. 1a, 1b, 1c and 1d, the end tool is located in front of its center of rotation, whereas the manipulation unit is formed behind its center of rotation, the front In this fixed state, through the operation of the control unit that moves the rear, the front end tool moves while the rear is fixed, so it is a structure that does not intuitively match. For this reason, inconsistency may occur in the perspective of the left-right direction or the rotational direction in the operation of the operation unit and the operation of the end tool, which may cause confusion to the user, and it may be difficult to intuitively and quickly perform the operation of the operation unit and cause mistakes. There was a problem that could be. On the other hand, since the surgical instrument according to an embodiment of the present invention moves based on the rotation center formed at the rear of both the end tool and the manipulation unit, it can be said that the operation is intuitively consistent with each other in structure. In other words, just as the moving part of the end tool moves based on the center of rotation formed on the back, the moving part of the control unit also moves based on the center of rotation formed on the back, so structurally, it can be said that the movements are intuitively consistent with each other. there is. Due to this, the user can intuitively and quickly control the direction of the end tool, and there is an advantage in that the possibility of causing a mistake is significantly reduced. Hereinafter, a detailed mechanism for enabling such a function will be described.

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

2 and 3 , the surgical instrument 100 according to the first embodiment of the present invention includes a manipulation unit 110 , an end tool 120 , a power transmission unit 130 , and a connection unit 140 . ) is included. Here, the connection unit 140 is formed in the shape of a hollow shaft, and one or more wires (to be described later) may be accommodated therein, and the manipulation unit 110 is coupled to one end thereof, and the end is at the other end thereof. The tool 120 is coupled, and may serve to connect the manipulation unit 110 and the end tool 120 . Here, the connection part 140 of the surgical instrument 100 according to the first embodiment of the present invention is characterized in that the bending part 141 is formed on the operation part 110 side. As such, the end of the connection unit 140 on the operation unit 110 side is bent, so that the pitch operation unit 111, the yaw operation unit 112, and the actuation operation unit 113 are formed on an extension line of the end tool 120 or It is formed adjacent to the extension line. Expressing this in another aspect, it may be described that at least a portion of the pitch manipulation unit 111 and the yaw manipulation unit 112 are accommodated in the recess formed by the bent unit 141 . The shape and operation of the manipulation unit 110 and the end tool 120 may more intuitively coincide with the shape of the bent part 141 as described above.

Meanwhile, the plane on which the bent portion 141 is formed may be substantially the same as the pitch plane, that is, the XZ plane of FIG. 2 . As such, since the bent part 141 is formed on the substantially same plane as the XZ plane, interference between the manipulation parts may be reduced. Of course, for the intuitive operation of the end tool and the control unit, not only the XZ plane but also other types of configuration will be possible.

The manipulation 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 forceps shape, a stick shape, a lever shape, etc., and when the doctor manipulates it, the corresponding interface The end tool 120 connected to and inserted into the body of the surgical patient performs a predetermined operation to perform surgery. Here, although it is shown in FIG. 2 that the manipulation unit 110 is formed in the shape of a handle that can be rotated in a state where a finger is inserted, the spirit of the present invention is not limited thereto, and is connected to the end tool 120 and the end tool ( 120), various types of operation units that can operate are possible.

The end tool 120 is formed at the other end of the connection unit 140 and is 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. 2 may be used. However, the spirit of the present invention is not limited thereto, and various devices for surgery may be used as the end tool 120 . For example, a configuration such as a cantilevered cautery may also be used as an end tool. Such an end tool 120 is connected by the operation unit 110 and the power transmission unit 130, and by receiving the driving force of the operation unit 110 through the power transmission unit 130, a grip, cutting ( The operation necessary for surgery, such as cutting) and suturing, is performed.

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 or more directions, for example, the end tool 120 is the Y axis of FIG. At the same time as performing a pitch movement to the center, it may be formed to perform a yaw movement and an actuation movement about the Z axis of FIG. 2 .

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

First, the pitch operation is a movement in which the end tool 120 rotates in the vertical direction with respect to the extension direction (X-axis direction in FIG. 2 ) of the connection part 140, that is, the operation to rotate about the Y-axis of FIG. it means. In other words, the end tool 120 extending from the connecting portion 140 in the extension direction of the connecting portion 140 (X-axis direction in FIG. 2 ) rotates up and down about the Y-axis with respect to the connecting portion 140 . it means. Next, the yaw operation is an operation in which the end tool 120 rotates left and right with respect to the extension direction (X-axis direction in FIG. 2 ) of the connection part 140 , that is, an operation to rotate about the Z-axis of FIG. 2 . means In other words, the end tool 120 extending from the connecting portion 140 in the extension direction of the connecting portion 140 (X-axis direction in FIG. 2 ) rotates left and right about the Z axis with respect to the connecting portion 140 . it means. That is, the two jaws 121 and 122 formed on the end tool 120 rotate in the same direction about the Z-axis. On the other hand, in the actuation operation, the end tool 120 rotates about the same rotational axis as the yaw operation, and while the two jaws 121 and 122 rotate in opposite directions to each other, the jaw ( Jaw) refers to the action of retracting or opening. That is, the two jaws 121 and 122 formed on the end tool 120 rotate in opposite directions about the Z-axis.

The power transmission unit 130 connects the operation unit 110 and the end tool 120 to transmit the driving force of the operation unit 110 to the end tool 120 , and includes a plurality of wires, pulleys, links, and nodes. , gears, and the like. In the surgical instrument 100 according to an embodiment of the present invention, the power transmission unit 130 may include a pitch wire (130P), Article 1 wire (130J1), Article 2 wire (130J2).

Hereinafter, the operation unit 110 , the end tool 120 , the power transmission unit 130 , and the like of the surgical instrument 100 of FIG. 2 will be described in more detail.

4 and 5 are perspective views illustrating the end tool of the surgical instrument of FIG. 2 , and FIG. 6A is a plan view illustrating the end tool of the surgical instrument of FIG. 2 .

4, 5 and 6A, the end tool 120 of the first embodiment of the present invention includes a pair of jaws 121 and 122 for performing a grip operation. , that is, Article 1 (121) and Article 2 (122) are provided. In addition, the end tool 120 is a J11 pulley (123J11), J12 pulley (123J12), J13 pulley (123J13), J14 pulley (123J14) and J15 pulley (123J15) associated with the rotational motion of Article 1 (jaw) 121 ) and Article 2 (jaw) 122 associated with the rotational motion of the J21 pulley (123J21), J22 pulley (123J22), J23 pulley (123J23), J24 pulley (123J24), includes a J25 pulley (123J25). Here, Article 1 (121), J11 pulley (123J11), J12 pulley (123J12), J14 pulley (123J14), Article 2 (122), J21 pulley (123J21), J22 pulley (123J22), J24 pulley (123J24) ) may be formed to rotate around the end tool pitch axis of rotation (123PA).

Meanwhile, a connector hub 142 is formed at one end of the connector 140 coupled to the end tool 120 . And, the above-described J12 pulley (123J12), J13 pulley (123J13), J14 pulley (123J14), J15 pulley (123J15), J22 pulley (123J22), J23 pulley (123J23), J24 pulley (123J24), J25 pulley ( 123J25 is connected to the connector hub 142 .

Here, although the drawing shows that the pulleys facing each other are formed in parallel to each other, the spirit of the present invention is not limited thereto, and each pulley may be formed in a variety of positions and sizes suitable for the configuration of the end tool. will be.

The J11 pulley (123J11) and the J21 pulley (123J21) are formed to face each other, and are formed to be rotatable independently of each other about the jaw rotation shaft (123JA). Here, the first jaw 121 is fixedly coupled to the J11 pulley 123J11 and rotates together with the J11 pulley 123J11, and the second jaw 122 is fixedly coupled to the J21 pulley 123J21. It can rotate together with the J21 pulley (123J21). A yaw operation and an actuation operation of the end tool 120 are performed according to 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, a yaw operation is performed, and when the J11 pulley (123J11) and the J21 pulley (123J21) rotate in opposite directions, the actuation operation is performed. will be.

On the other hand, on one side of the J11 pulley (123J11) and the J21 pulley (123J21), auxiliary pulleys J16 pulley (123J16) and J26 pulley (123J26) may be additionally provided, and these auxiliary pulleys are auxiliary pulleys (123S). It may be formed to be rotatable about the center. Here, in the drawings, the J16 pulley (123J16) and the J26 pulley (123J26) are formed to rotate about one auxiliary chuli axis (123S), but each auxiliary pulley may be formed to be rotatable about a separate axis. is of course In other words, the auxiliary pulley J16 pulley (123J16) may be disposed between the J11 pulley (123J11) and the J12 pulley (123J12) / J14 pulley (123J14). In addition, the auxiliary pulley J26 pulley (123J26) may be disposed between the J21 pulley (123J21) and the J22 pulley (123J22) / J24 pulley (123J24). Such an auxiliary pulley will be described in more detail later.

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

On one side of the J11 pulley (123J11), the J12 pulley (123J12) and the J14 pulley (123J14) are disposed to face each other. Here, the J12 pulley (123J12) and the J14 pulley (123J14) are formed to be rotatable independently of each other about the end tool pitch rotation shaft (123PA). In addition, on one side of each of the J12 pulleys 123J12 and J14 pulley 123J14, the J13 pulley 123J13 and the J15 pulley 123J15 are disposed to face each other. Here, the J13 pulley (123J13) and the J15 pulley (123J15) are formed to be rotatable independently of each other about the Y-axis direction. Here, in the drawings, 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 idea of the present invention is It is not limited thereto, and the rotation shafts of each pulley may be formed in various directions to be appropriate for the configuration.

Article 1 wire (130J1) J13 pulley (123J13), J12 pulley (123J12), J11 pulley (123J11), J16 pulley (123J16), J14 pulley (123J14), J15 pulley (123J15) and at least a part in order to contact Winding, Article 1 wire (130J1) is formed to move along the pulleys while rotating the pulleys.

Accordingly, Article 1 wire (130J1) is pulled toward the arrow J1R of Figure 6a, Article 1 wire (130J1) is J15 pulley (123J15), J14 pulley (123J14), J16 pulley (123J16), J11 pulley (123J11) , the J12 pulley (123J12), the J13 pulley (123J13) is rotated, and at this time, the J11 pulley (123J11) rotates in the arrow R direction of FIG. 6a while rotating the first jaw (jaw) 121 together.

Conversely, Article 1 wire (130J1) is pulled toward the arrow J1L in Figure 6a, Article 1 wire (130J1) is J13 pulley (123J13), J12 pulley (123J12), J11 pulley (123J11), J16 pulley (123J16) , the J14 pulley (123J14), the J15 pulley (123J15) is rotated, and at this time, the J11 pulley (123J11) rotates in the arrow L direction of FIG. 6a while rotating the first jaw (jaw) 121 together.

Hereinafter, the auxiliary pulleys (123J16, 123J26) will be described in more detail.

Auxiliary pulleys (123J16, 123J26) are in contact with Article 1 wire (130J1) and Article 2 wire (130J2) By changing the arrangement path of Article 1 wire (130J1) and Article 2 wire (130J2) to a certain extent, Article 1 121 and Article 2 122 may serve to enlarge the respective rotation radius. That is, when the auxiliary pulley is not disposed as shown in FIG. 6b , each of Article 1 121 and Article 2 122 could rotate only at a right angle, but in an embodiment of the present invention, auxiliary pulleys 123J16 and 123J26 By additionally providing , it is possible to obtain the effect of increasing the maximum rotation angle by θ as seen in FIG. 6A. This enables the operation in which the two jaws of the end tool 120 are yaw rotated together by 90° in the L direction, and the two jaws must be opened for the actuation operation. That is, this is because the second jaw 122 can be rotated by an additional angle θ as in FIG. 6A . Similarly, the actuation operation is possible even in a state in which the two sets yaw in the R direction. In other words, through the configuration of the auxiliary pulleys (123J16, 123J26), the actuation operation has a feature that can expand the range of possible yaw rotation. This will be described in more detail as follows.

Referring to Figure 6b, Article 1 wire (130J1) is fixedly coupled to the J11 pulley (not shown), and Article 2 wire (130J2) is fixedly coupled to the J21 pulley (123J21), the auxiliary pulley is arranged If not, each of the J11 pulley (not shown) and the J21 pulley 123J21 may rotate only up to the M line of FIG. 6b in the arrow L direction. In other words, Article 1 wire (130J1) and the fixed coupling portion of the J11 pulley (123J11) and Article 1 wire (130J1) is rotatable only in approximately a right angle direction that is not separated. In this case, when the first group 121 and the second group 122 perform an actuation operation in a state located on the M line of FIG. 6B , the first group 121 may open in the R direction, but The two jaws 122 cannot rotate more than the M line in the L direction. Therefore, in the state in which the first group 121 and the second group 122 are performing the yaw operation at a predetermined angle or more, there is a problem that the actuation operation cannot be smoothly performed.

In order to solve this problem, in the surgical instrument 100 according to an embodiment of the present invention, the J16 pulley (123J16) and the J26 pulley ( 123J26) is characterized in that it is additionally arranged. By disposing the J16 pulley (123J16) and the J26 pulley (123J26) in this way, by changing the arrangement path of the Article 1 wire (130J1) and Article 2 wire (130J2) to a certain extent, Article 1 wire (130J1) and Article 1 By changing the tangential direction of the wire 2 (130J2), and thus the wire 2 (130J2) and the fixed coupling portion of the J21 pulley (123J21) can be rotated to the N line of Figure 6a. That is, Article 2 wire (130J2) and the coupling portion of the J21 pulley (123J21) is rotatable until it is located on the common inscribed line of the J21 pulley (123J21) and the J26 pulley (123J26). Similarly, Article 1 wire (130J1) and the coupling portion of the J11 pulley (123J11) is rotatable until it is located on the common inscribed line of the J11 pulley (123J11) and the J16 pulley (123J16), the rotation range in the R direction is expanded can be

According to the present invention, as the rotation radius of the first set 121 and the second set 122 is widened, it is possible to obtain an effect that the yaw operation range in which the normal opening/closing actuation operation can be performed is widened.

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

On one side of the J21 pulley (123J21), the J22 pulley (123J22) and the J24 pulley (123J24) are disposed to face each other. Here, the J22 pulley (123J22) and the J24 pulley (123J24) are formed to be rotatable independently of each other about the end tool pitch rotation axis (123PA) direction. In addition, on one side of each of the J22 pulleys 123J22 and J24 pulley 123J24, J23 pulleys 123J23 and J25 pulleys 123J25 are disposed to face each other. Here, the J23 pulley (123J23) and the J15 pulley (123J25) are formed to be rotatable independently of each other about the Y-axis direction. Here, in the drawings, the J22 pulley (123J22), the J23 pulley (123J23), the J24 pulley (123J24), and the J25 pulley (123J25) are all shown to be rotatable about the Y-axis direction, but the idea of the present invention is It is not limited thereto, and the rotation shafts of each pulley may be formed in various directions to be appropriate for the configuration.

Article 2 wire (130J2) is J23 pulley (123J23), J22 pulley (123J22), J21 pulley (123J21), J26 pulley (123J26), J24 pulley (123J24), J25 pulley (123J25) and at least a portion in order to contact It is wound, and Article 2 wire (130J2) is formed to move along the pulleys while rotating the pulleys.

Accordingly, Article 2 wire (130J2) is pulled toward the arrow J2R in Figure 6a, Article 2 wire (130J2) is J23 pulley (123J23), J22 pulley (123J22), J21 pulley (123J21), J26 pulley (123J26) , the J24 pulley (123J24), the J25 pulley (123J25) is rotated, and at this time, the J21 pulley (123J21) rotates in the arrow R direction of FIG. 6a while rotating the second jaw (jaw) 122 together.

Conversely, when Article 2 wire (130J2) is pulled toward the arrow J2L in Fig. 6a, Article 2 wire (130J2) is J25 pulley (123J25), J24 pulley (123J24), J26 pulley (123J26), J21 pulley (123J21) , the J22 pulley (123J22), the J23 pulley (123J23) is rotated, and at this time, the J21 pulley (123J21) rotates in the arrow L direction of FIG. 6a while rotating the second jaw (jaw) 122 together.

On the other hand, when one end of the Article 1 wire (130J1) is pulled toward the arrow J1R of FIG. 6a, and at the same time, the other end of the Article 1 wire (130J1) is pulled toward the arrow J1L of FIG. 6a (ie Article 1 wire 130J1) ) when both ends of both ends are pulled), Article 1 wire (130J1) as shown in Figure 5 to the bottom of the J12 pulley (123J12) and J14 pulley (123J14) that can rotate around the end tool pitch rotation axis (123PA) Because it is wound, Article 1 wire (130J1) is fixedly coupled to the J11 pulley (123J11), Article 1 (121), the jaw rotation shaft (123JA), the end tool hub (123a) and Article 2 (122) connected thereto The back rotates together in a counterclockwise direction about the end tool pitch rotation axis 123PA as a whole, and as a result, the end tool 120 performs a pitch motion while rotating downward. At this time, Article 2 (122) and Article 2 wire (130J2) fixedly coupled thereto is the J22 pulley (123J22) and J24 pulley (123J24) that can rotate about the end tool pitch rotation axis (123PA) upwards. Since it is wound, both ends of the Article 2 wire (130J2) is moved in the opposite direction of J2L, J2R, respectively.

Conversely, one end of the Article 2 wire (130J2) is pulled toward the arrow J2R of Figure 6a, and at the same time the other end of the Article 2 wire (130J2) is pulled toward the arrow J2L of Figure 6a, as in Figure 5, Article 2 Since the wire (130J2) is wound above the J22 pulley (123J22) and the J24 pulley (123J24) that can rotate about the end tool pitch rotation axis (123PA), Article 2 wire (130J2) is fixedly coupled to J21 Pulley (123J21), Article 2 (122), jaw rotation shaft (123JA), end tool hub (123a) and Article 1 (121) connected thereto as a whole are together in a clockwise direction around the end tool pitch rotation shaft (123PA). As a result, the end tool 120 rotates upward to perform a pitch motion. At this time, Article 1 121 and Article 1 wire (130J1) fixedly coupled thereto is the J12 pulley (123J12) and the J14 pulley (123J14) that can be rotated about the end tool pitch rotation axis (123PA) downwards. Because it is wound, both ends of the Article 1 wire (130J1) is moved in the opposite direction of J1L, J1R, respectively.

On the other hand, the end tool 120 of the surgical instrument 100b of the present invention further includes a pitch pulley 123P, and the manipulation unit 110 further includes a pitch wire end pulley 115P, and the power transmission unit 130 ) may further include a pitch wire 130P. In detail, the pitch pulley 123P of the end tool 120 may be rotatable about the end tool pitch rotation axis 123PA and may be formed to be fixedly coupled to the end tool hub 123a. On the other hand, the pitch pulley of the manipulation unit may be rotatable about the pitch rotation axis and may be formed to be fixedly coupled to the pitch manipulation unit (not shown). In addition, the pitch wire 130P may serve to connect the pitch pulley 123P of the end tool 120 and the pitch pulley of the manipulation unit.

Therefore, when the user rotates the first handle 114 about the pitch rotation shaft 1111 in a state in which the user holds the first handle 114 of the manipulation unit 110 by hand, the pitch combined with the first handle 114 The pulley rotates around the pitch rotation shaft 1111, and the rotation of the pitch pulley is transmitted to the pitch pulley 123P of the end tool 120 through the pitch wire 130P, and the pitch pulley 123P also rotates together, As a result, the end tool 120 rotates while performing a pitch motion.

That is, the surgical instrument 100 according to the first embodiment of the present invention is the pitch pulley 123P of the end tool 120 , the pitch wire end pulley 115P of the manipulation unit 110 and the power transmission unit 130 of the By providing the pitch wire 130P, the driving force of the pitch operation of the pitch manipulation unit 111 is more perfectly transmitted to the end tool 120, thereby improving operational reliability.

6C is a view showing a modified example of the coupling structure of the end tool and the wire.

Referring to Figure 6c, when Article 2 wire (130J2) is coupled to the J21 pulley (123J21), the Article 2 wire (130J2) with respect to the J21 pulley (123J21) is combined with the two wires Article 2 wire R (130J2R) ) and Article 2 After dividing the wire L (130J2L), one end of each wire (130J2R) (130J2L) is coupled to the J21 pulley (123J21), respectively. That is, one end of the Article 2 wire R (130J2R) is coupled to the first coupling portion (123J21R) of the J21 pulley (123J21), and one end of the Article 2 wire L (130J2L) is the first end of the J21 pulley (123J21). 2 is coupled to the coupling portion (123J21L).

At this time, the positions of the respective coupling portions 123J21R and 123J21L of the J21 pulley 123J21 are positions such that the respective wires 130J2R and 130J2L overlap each other. Through this, it is possible to expand that the rotation radius of the second set 122 is limited to 90° in FIG. 6B , and consequently the radius of rotation of the second set 122 can be expanded as shown in FIG. 6A .

Article 1 wire (130J1) can also be fixedly coupled to the J11 pulley (123J11) in the same manner as in the above method, as a result, it is possible to expand the radius of rotation of Article 1 121. Through this, it is possible to have the effect of widening the yaw operation range in which the normal opening/closing actuation operation can be performed.

6D is a view showing another modified example of the coupling structure of the end tool and the wire.

Referring to Figure 6d, when the Article 1 wire (130J1) is coupled to the J11 pulley (123J11), the Article 1 wire (130J1) with respect to the J11 pulley (123J11) is combined with the two wires Article 1 wire R (130J1R) ) and Article 1 after dividing the wire L (130J1L), one end of each wire strand (130J1R) (130J1L) is coupled to the coupling member (123J11C) of the J11 pulley (123J11), respectively. At this time, the coupling member (123J21C) is formed on the opposite side of the Article 1 121 in the J11 pulley (123J11), and one end of the Article 1 wire R (130J1R) is coupled to one side of the coupling member (123J21C), the coupling member One end of Article 1 wire L (130J1L) is coupled to the other side of (123J21C).

At this time, the position of the coupling member (123J21C) of the J11 pulley (123J11) is a position to wind each wire (130J1R, 130J1L) more than half a turn. Through this, it is possible to expand that the rotation radius of the second set 122 is limited to 90° in FIG. 6B , and consequently the radius of rotation of the second set 122 can be expanded as shown in FIG. 6A .

Article 2 wire (130J2) can also be fixedly coupled to the J21 pulley (123J21) in the same way as in the above method, as a result, it is possible to extend the radius of rotation of Article 2 (122). Through this, it is possible to have the effect of widening the yaw operation range in which the normal opening/closing actuation operation can be performed.

(Control panel)

Figure 7 (a) is a perspective view showing the operation unit of the surgical instrument of Figure 2, Figure 7 (b) is a perspective view of Figure 7 (a) viewed from the back.

2 to 7 , the manipulation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention includes a first handle 114 that can be gripped by a user, and an end tool 120 of An actuation operation unit 113 for controlling the actuation movement, a yaw operation unit 112 for controlling the yaw movement of the end tool 120, and a pitch operation unit 111 for controlling the pitch movement of the end tool 120. do.

First, if the state of use of the surgical instrument 100 of FIG. 2 is exemplified, the user moves the first handle 114 to the Y-axis (that is, the pitch rotation axis 1111) while holding the first handle 114 with the palm of the hand. ) may be rotated to perform a pitch operation, and the first handle 114 may be rotated about the Z-axis (ie, the yaw rotation axis 1121) to perform a yaw operation. In addition, the user may perform the actuation operation by rotating the actuation manipulation unit 113 in a state that inserts the thumb and index finger into the actuation manipulation unit 113 .

Here, when the surgical instrument 100 according to the first embodiment of the present invention rotates the manipulation unit 110 in any one direction with respect to the connection unit 140 , the end tool 120 moves in the operating direction of the manipulation unit 110 and It is characterized in that it intuitively rotates in the same direction. In other words, when the first handle 114 of the manipulation unit 110 is rotated in any one direction, the end tool 120 also rotates in the same direction intuitively as the one direction to perform a pitch motion or a yaw motion. Here, the intuitively the same direction can be further explained that the movement direction of the user's finger holding the manipulation unit 110 and the movement direction of the distal end of the end tool 120 form substantially the same direction. Of course, the same direction here may not be a perfectly coincident direction on three-dimensional coordinates. For example, when the user's finger moves to the left, the distal end of the end tool 120 also moves to the left, and the user's finger moves to the left. When moving down, it will be understood that the distal end of the end tool 120 is also the same degree of moving down.

And, for this purpose, the surgical instrument 100 according to the first embodiment of the present invention is based on a plane in which the manipulation unit 110 and the end tool 120 are perpendicular to the extension axis (X axis) of the connection unit 140 . It is characterized in that it is formed in the same direction. That is, when viewed based on the YZ plane of FIG. 2 , the manipulation unit 110 is formed to extend in the +X-axis direction, and at the same time, the end tool 120 is also formed to extend in the +X-axis direction. In other words, the formation direction of the end tool 120 at one end of the connection unit 140 and the formation direction of the manipulation unit 110 at the other end of the connection unit 140 are in the same direction based on the YZ plane. it might be said Or, in other words, it may be said that the manipulation unit 110 is formed in a direction away from the user's body holding it, that is, toward the direction in which the end tool 120 is formed. That is, the first handle 114 that the user grips and moves for the actuation operation, the yaw operation, and the pitch operation, the actuation rotating parts 1132a, 1132b, etc., are the moving parts to perform each operation. It is formed to extend in the +X-axis direction from the rotation center of the joint. Through this, the operation unit 110 can be configured in the same way that the moving part of the end tool 120 is formed to extend in the +X-axis direction from the rotation center of each joint for the corresponding operation, as described in FIG. 1 . Similarly, the user's operation direction and the ent tool's operation direction coincide with both the rotational direction and the left-right direction, and as a result, intuitively the same operation may be possible.

In detail, in the case of a conventional surgical instrument, since the direction in which the user operates the manipulation unit and the actual operating direction of the end tool are different and do not intuitively match, intuitive operation is not easy from the operator's point of view, and the end tool There was a problem that it takes a long time to become skilled to move in a desired direction, and in some cases, a malfunction may occur and cause damage to the patient.

In order to solve this problem, the surgical instrument 100 according to the first embodiment of the present invention makes the operation direction of the operation unit 110 and the operation direction of the end tool 120 intuitively the same direction, In order to operate the operation unit 110, like the end tool 120, the part that is actually moved for the actuation operation, the yaw operation, and the pitch operation is formed to extend in the +X-axis direction than the rotation center of the corresponding joint of each operation. do. This will be described in more detail as follows.

The first handle 114 may be gripped by the user's hand, and in particular, the user may wrap the first handle 114 with his or her palm to hold it. Then, the actuation operation unit 113 and the yaw operation unit 112 are formed on the first handle 114 , and a pitch operation unit 111 is formed on one side of the yaw operation unit 112 . The other end of the pitch manipulation unit 111 is connected to the bent unit 141 of the connecting unit 140 .

The actuation manipulation unit 113 includes a first actuation manipulation unit 113a and a second actuation manipulation unit 113b. The first actuation manipulation unit 113a includes a first actuation rotation shaft 1131a, a first actuation rotation unit 1132a, a first actuation pulley 113P1, and a first actuation gear 1134a. The second actuation manipulation unit (113b) includes a second actuation rotating shaft (1131b), a second actuation rotating unit (1132b), a second actuation pulley (113P2), a second actuation gear (1134b). Here, the first actuation rotator 1132a and the second actuation rotator 1132b may operate as a second handle.

Here, the actuation rotation shafts 1131a and 1131b may be formed to form a predetermined angle with the XY plane on which the connection part 140 is formed. For example, the actuation axis of rotation (1131a, 1131b) may be formed in a direction parallel to the Z axis, in this state, when the pitch manipulation unit 111 or the yaw manipulation unit 112 rotates, the actuation manipulation unit 113 ) can be relatively variable. Of course, the spirit of the present invention is not limited thereto, and by ergonomic design, the actuation axis of rotation (1131a) (1131b) is formed in various directions to suit the structure of the user's hand holding the actuation manipulation unit (113). it could be

On the other hand, the first actuation rotating part (1132a), the first actuation pulley (113P1), the first actuation gear (1134a) are fixedly coupled to each other, and formed to be rotatable together around the first actuation rotating shaft (1131a). can be Here, the first actuation pulley (113P1) may be composed of one pulley, it may be composed of two pulleys fixedly coupled to each other.

Similarly, the second actuation rotating part (1132b), the second actuation pulley (113P2), the second actuation gear (1134b) are fixedly coupled to each other, and formed to be rotatable together around the second actuation rotating shaft (1131b). can be Here, the second actuation pulley (113P2) may be composed of one pulley, it may be composed of two pulleys fixed to each other.

Here, the first actuation gear (1134a) and the second actuation gear (1134b) are formed to mesh with each other, and when either side rotates, it may be formed to rotate together in opposite directions.

The yaw operation unit 112 may include a yaw rotation shaft 1121, Article 1 yaw pulley (112P1), Article 2 yaw pulley (112P2), and a yaw frame (yaw frame) (1123). In addition, the yaw manipulation unit 112 is Article 1 yaw auxiliary pulley (112S1) formed on one side of the Article 1 yaw pulley (112P1), Article 2 yaw auxiliary pulley formed on one side of the Article 2 yaw pulley (112P2) ( 112S2) may be further included. Here, Article 1 yaw auxiliary pulley (112S1) and Article 2 yo auxiliary pulley (112S2) may be coupled to the pitch frame 1113 to be described later.

Here, in the drawing, the yaw operation unit 112 includes Article 1 yaw pulley (112P1) and Article 2 yaw pulley (112P2), Article 1 yaw pulley (112P1) and Article 2 yaw pulley (112P2) are each Although it is shown as having two pulleys formed to face each other and rotatable independently, the spirit of the present invention is not limited thereto. That is, one or more pulleys having the same or different diameters may be provided according to the configuration of the yaw manipulation unit 112 .

In detail, a yaw rotation shaft 1121 is formed on one side of the actuation manipulation unit 113 on the first handle 114 . In this case, the first handle 114 is formed to be rotatable about the yaw rotation shaft 1121 .

Here, the yaw rotation shaft 1121 may be formed to form a predetermined angle with the XY plane on which the connection part 140 is formed. For example, the yaw axis of rotation 1121 may be formed in a direction parallel to the Z axis, and when the pitch manipulation unit 111 rotates in this state, the coordinate system of the yaw axis of rotation 1121 may be relatively changed as described above. can Of course, the spirit of the present invention is not limited thereto, and by an ergonomic design, the yaw rotation shaft 1121 may be formed in various directions to suit the structure of the user's hand gripping the manipulation unit 110 .

On the other hand, Article 1 yaw pulley (112P1) and Article 2 yaw pulley (112P2) is coupled to the yaw rotation shaft 1121 to be rotatable about the yaw rotation shaft 1121. And, Article 1 yaw pulley (112P1) Article 1 wire (130J1) is wound, Article 2 yaw pulley (112P2) Article 2 wire (130J2) can be wound. In this case, Article 1 yaw pulley (112P1) and Article 2 yaw pulley (112P2) may be formed to face each other, respectively, and may consist of two pulleys rotatable independently. Accordingly, the wound wire and the wound wire can be wound on separate pulleys, respectively, so that they can operate without interfering with each other.

The yaw frame 1123 connects the first handle 114, the yaw rotation shaft 1121, the first actuation rotation shaft 1131a, and the second actuation rotation shaft 1131b, the first handle 114 and the yaw control unit ( 112) and the actuation operation unit 113 to be able to rotate integrally around the yaw rotation shaft 1121.

Pitch operation unit 111 is a pitch rotation shaft 1111, Article 1 pitch pulley -a (111P1a), Article 1 pitch pulley -b (111P1b), Article 2 pitch pulley -a (111P2a) and Article Two pairs of pitch pulley-b (111P2b) and may include a pitch frame (pitch frame) (1113). In addition, the pitch manipulation unit 111 is Article 1 pitch pulley -a (111P1a) Article 1 pitch auxiliary pulley -a (111S1a) formed on one side of, Article 1 pitch pulley -b (111P1b) formed on one side of Article 1 pitch pulley -b (111P1b) Article 1 pitch auxiliary pulley-b (111S1b) and Article 2 pitch pulley-a (111P2a) formed on one side of Article 2 pitch auxiliary pulley-a (111S2a) and Article 2 pitch pulley-b (111P2b) Article 2 pitch secondary pulley-b (111S2b) formed on one side may be further included. The pitch manipulation unit 111 is connected to the bent unit 141 of the connection unit 140 through the pitch rotation shaft 1111 .

In detail, the pitch frame 1113 becomes the base frame of the pitch manipulation unit 111 , and the yaw rotation shaft 1121 is rotatably coupled to one end thereof. That is, the yaw frame 1123 is formed to be rotatable about the yaw rotation axis 1121 with respect to the pitch frame 1113 .

As described above, the yaw frame 1123 connects the first handle 114, the yaw rotation shaft 1121, the first actuation rotation shaft 1131a, and the second actuation rotation shaft 1131b, and also the yaw frame 1123 ) is connected to the pitch frame 1113, when the pitch frame 1113 rotates about the pitch rotation axis 1111, the yaw frame 1123 connected to the pitch frame 1113, the first handle 114, the yaw rotation axis (1121), the first actuation rotation shaft (1131a), the second actuation rotation shaft (1131b) is rotated together. That is, when the pitch manipulation unit 111 rotates about the pitch rotation shaft 1111 , the actuation manipulation unit 113 and the yaw manipulation unit 112 rotate together with the pitch manipulation unit 111 . In other words, when the user rotates the pitch of the first handle 114 about the pitch rotation shaft 1111, the actuation operation unit 113, the yaw operation unit 112, and the pitch operation unit 111 move together.

In the pitch frame 1113, the pitch rotation shaft 1111 and Article 1 pitch pulley -a (111P1a), Article 1 pitch pulley -b (111P1b), Article 2 pitch pulley -a (111P2a) and Article 2 The jaw pitch pulley-b (111P2b) is coupled. At this time, Article 1 pitch pulley-a (111P1a), Article 1 pitch pulley-b (111P1b), Article 2 pitch pulley-a (111P2a), and Article 2 pitch pulley-b (111P2b) are pitch It is coupled to the pitch rotation shaft 1111 so as to be rotatable about the rotation shaft 1111 .

Here, Article 1 pitch pulley -a (111P1a) and Article 1 pitch pulley -b (111P1b) are formed to face each other and may be formed to be rotatable independently. Accordingly, the wound wire and the wound wire can be wound on separate pulleys, respectively, so that they can operate without interfering with each other. Similarly, Article 2 pitch pulley -a (111P2a) and Article 2 pitch pulley -b (111P2b) are also formed to face each other and may be formed to be independently rotatable. Accordingly, the wound wire and the wound wire can be wound on separate pulleys, respectively, so that they can operate without interfering with each other.

Referring to Figure 7 (b), the pitch wire end pulley (115P) is fixedly coupled to the pitch frame (1113) is formed to rotate together. Then, the pitch wire 130P is fixedly coupled to the pitch frame 1113 via the pitch wire auxiliary pulley 115S and the pitch wire end pulley 115P. As a result, the pitch frame 1113, the pitch wire end pulley 115P by the pitch rotation may rotate together about the pitch rotation axis 1111.

The operation of the pitch wire 130P is as follows.

The end tool 120 has a pitch pulley 123P fixedly coupled to the end tool hub 123a, and the control unit 110 includes a pitch wire end pulley 115P, which are connected to each other by a pitch wire 130P. Thus, the pitch operation of the end tool can be more easily performed according to the pitch manipulation of the manipulation unit 110 . Here, both ends of the pitch wire (130P) are fixedly coupled to the pitch frame 1113 via the corresponding pitch wire auxiliary pulley (115S) and the pitch wire end pulley (115P), respectively, and each pitch wire end pulley (115P) It is also fixedly coupled to the pitch frame 1113. That is, the pitch frame 1113 and the pitch wire end pulley 115P rotate together about the pitch rotation axis 1111 by the pitch rotation of the manipulation unit, and as a result, both sides of the pitch wire 130P also move in opposite directions. By doing so, Article 1 wire (130J1) and Article 2 wire (130J2) can transmit the power of the additional pitch rotation separately from the pitch operation of the end tool.

The first handle 114, the pitch manipulation unit 111, the yaw manipulation unit 112, the actuation manipulation unit 113, respectively, the connection relationship is summarized as follows. Actuation rotation shafts 1131a and 1131b, the yaw rotation shaft 1121 and the pitch rotation shaft 1111 may be formed on the first handle 114 . In this case, since the actuation rotation shafts 1131a and 1131b are formed directly on the first handle 114 , the first handle 114 and the actuation manipulation unit 113 may be directly connected to each other. On the other hand, since the yaw rotation shaft 1121 is directly formed on the first handle 114 , the first handle 114 and the yaw manipulation unit 112 may be directly connected to each other. On the other hand, since the pitch manipulation unit 111 is formed to be connected to the yaw manipulation unit 112 on one side of the yaw manipulation unit 112 , the pitch manipulation unit 111 is not directly connected to the first handle 114 , but the pitch manipulation unit (111) and the first handle 114 may be formed to be indirectly connected through the yaw control unit (112).

Continuing to refer to the drawings, in the surgical instrument 100 according to the first embodiment of the present invention, the pitch manipulation unit 111 and the end tool (end tool) 120 are the same or parallel axis (X axis) may be formed on the That is, the pitch rotation shaft 1111 of the pitch manipulation unit 111 is formed at one end of the bent portion 141 of the connection unit 140 , and an end tool 120 is formed at the other end of the connection unit 140 . will become

And, one or more intermediate pulleys (MP) for changing or guiding the path of the wires may be disposed in the middle of the connecting portion 140, particularly in the bent portion 141 portion. At least a portion of the wires are wound around the intermediate pulleys (MP), such as to guide the path of the wires, so that the wire can be arranged along the bent shape of the bent portion 141 .

Here, in the drawings, the connecting portion 140 is provided with the bent portion 141 and is shown to be curved to have a predetermined curvature, but the spirit of the present invention is not limited thereto, and the connecting portion 140 is straight as required. It may be formed as a , or may be formed by bending one or more times, and even in this case, it can be said that the pitch manipulation unit 111 and the end tool 120 are substantially formed on the same or parallel axis. will be. In addition, although it is shown in FIG. 3 that the pitch manipulation unit 111 and the end tool 120 are respectively formed on an axis parallel to the X axis, the spirit of the present invention is not limited thereto, and the pitch manipulation unit ( 111) and the end tool 120 may be formed on different axes.

The actuation operation, the yaw operation, and the pitch operation in this embodiment will be described as follows.

First, the actuation operation is as follows.

The user inserts the index finger into the first actuation rotating unit 1132a and the second actuation rotating unit 1132b using either one or both fingers in a state of inserting the thumb into the actuation rotating unit 1132a (1132b) (1132b). ) is rotated, the first actuation pulley (113P1) and the first actuation gear (1134a) fixedly coupled to the first actuation rotating part (1132a) rotates about the first actuation rotating shaft (1131a), and the second 2 The second actuation pulley (1133b) and the second actuation gear (1134b) fixedly coupled to the actuation rotating part (1132b) rotates around the second actuation rotating shaft (1131b). At this time, the first actuation pulley (113P1) and the second actuation pulley (113P2) rotate in opposite directions to each other, and therefore one end is fixedly coupled to the first actuation pulley (113P1) and wound Article 1 wire (130J1) ) and the second actuation pulley (113P2) one end is fixedly coupled to the wound Article 2 wire (130J2) also moves in opposite directions to each other. And, this rotational force is transmitted to the end tool 120 through the power transmission unit 130, the two jaws (jaw) 121, 122 of the end tool 120 performs the actuation operation. Here, the actuation operation refers to an operation of opening or closing the jaws 121 and 122 while the two jaws 121 and 122 rotate in opposite directions as described above. That is, when the actuation rotating parts 1132a, 1132b of the actuation manipulation unit 113 are rotated in a direction to approach each other, the first jaw 121 rotates counterclockwise and the second jaw 122 ) is rotated in a clockwise direction while the end tool 120 is closed, and when the actuation rotating parts 1132a and 1132b of the actuation operation unit 113 are rotated in a direction away from each other, Article 1 (jaw) 121 is clockwise and the second jaw (jaw) 122 is rotated counterclockwise while the end tool 120 is opened. In this embodiment, the first actuation rotating part (1132a) and the second actuation rotating part (1132b) are provided for the above-described actuation manipulation to constitute a second handle, and two fingers can be gripped to enable manipulation. However, the configuration of the actuation manipulation unit 113 for actuation manipulation to open and close the two jaws of the end tool 120 with each other is different from the above-described configuration of the two actuation pulleys (first actuation) with one actuation rotating unit. The pulley (113P1), the second actuation pulley (113P2) other modifications such as a configuration to operate opposite to each other will be sufficiently possible.

Next, the yo operation is as follows.

When the user rotates the first handle 114 about the yaw rotation shaft 1121 while holding the first handle 114, the actuation operation unit 113 and the yaw operation unit 112 rotate the yaw rotation shaft 1121. yaw rotation around the center. That is, when the first actuation pulley (113P1) of the first actuation manipulation unit (113a) to which the Article 1 wire (130J1) is fixedly coupled rotates about the yaw rotation shaft 1121, the Article 1 yaw pulley ( Article 1 wire (130J1) wound on 112P1) is moved. Similarly, when the second actuation pulley (113P2) of the second actuation manipulation unit (113b) to which the Article 2 wire (130J2) is fixedly coupled rotates about the yaw rotation shaft 1121, the Article 2 yaw pulley ( Article 2 wire (130J2) wound on 112P2) is moved. At this time, Article 1 wire (130J1) connected to Article 1 (121) and Article 2 wire (130J2) connected to Article 2 (122), Article 1 (121) and Article 2 ( 122) is wound around Article 1 yaw pulley (112P1) and Article 2 yaw pulley (112P2) so that it rotates in the same direction. And, this rotational force is transmitted to the end tool 120 through the power transmission unit 130, and the two jaws 121 and 122 of the end tool 120 rotate in the same direction. carry out

At this time, since the yaw frame 1123 connects the first handle 114, the yaw rotating shaft 1121, the first actuated rotating shaft 1131a, and the second actuated rotating shaft 1131b, the first handle 114 and the yaw The manipulation unit 112 and the actuation manipulation unit 113 rotate together around the yaw rotation shaft 1121 .

Next, the pitch operation is as follows.

When the user rotates the first handle 114 about the pitch rotation shaft 1111 while holding the first handle 114, the actuation operation unit 113, the yaw operation unit 112 and the pitch operation unit 111 are The pitch rotation is performed around the pitch rotation shaft 1111 . That is, when the first actuation pulley (113P1) of the first actuation manipulation unit (113a) to which the Article 1 wire (130J1) is fixedly coupled rotates around the pitch rotation shaft 1111, Article 1 pitch pulley- Article 1 wire (130J1) wound on a (111P1a) and Article 1 pitch pulley-b (111P1b) is moved. Similarly, when the second actuation pulley (113P2) of the second actuation manipulation unit (113b) to which the Article 2 wire (130J2) is fixedly coupled is rotated around the pitch rotation shaft 1111, Article 2 pitch pulley- Article 2 wire (130J2) wound on a (111P2a) and Article 2 pitch pulley-b (111P2b) is moved. At this time, as described through Figure 5, both strands of the Article 1 wire (130J1) move in the same direction, and both strands of the Article 2 wire (130J2) move in the same direction, so that Article 1 ( 121) and Article 2 (122) so that the pitch rotation, Article 1 wire (130J1) and Article 2 wire (130J2) Article 1 pitch pulley (111P1a, 111P1b) and Article 2 pitch pulley ( 111P2a, 111P2b). And, this rotational force is transmitted to the end tool 120 through the power transmission unit 130, the two jaws (jaw) (121, 122) of the end tool 120 performs a pitch operation.

At this time, the pitch frame 1113 is connected to the yaw frame 1123, and the yaw frame 1123 is a first handle 114, a yaw rotation shaft 1121, a first actuation rotation shaft 1131a, a second actuation rotation shaft ( 1131b), when the pitch frame 1113 rotates about the pitch rotation axis 1111, the yaw frame 1123 connected to the pitch frame 1113, the first handle 114, the yaw rotation axis 1121, the first The first actuation axis of rotation 1131a and the second actuation axis of rotation 1131b rotate together. That is, when the pitch manipulation unit 111 rotates around the pitch rotation shaft 11111 , the actuation manipulation unit 113 and the yaw manipulation unit 112 rotate together with the pitch manipulation unit 111 .

In summary, in the surgical instrument 100 according to an embodiment of the present invention, a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), and a wire (Article 1 wire or second article) is formed on the pulley. wire) is wound, and the rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes movement of each wire, as a result, it is characterized in that it induces the desired operation of the end tool 120 . Furthermore, auxiliary pulleys may be formed on one side of each pulley, and the wire may not be wound several times on one pulley by these auxiliary pulleys.

8 is a diagram schematically illustrating only the configuration of pulleys and wires constituting the joints of the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 7 . In Figure 8, the intermediary pulleys for changing the path of the wire regardless of the joint motion are omitted.

8, the manipulation unit 110 is a first actuation pulley (113P1) related to the rotational motion of Article 1 (jaw) 121, Article 1 yaw pulley (112P1), Article 1 yaw auxiliary pulley ( 112S1), Article 1 pitch pulley-a (111P1a), Article 1 pitch pulley-b (111P1b), Article 1 pitch auxiliary pulley-a (111S1a), Article 1 pitch auxiliary pulley-b (111S1b) can do.

In addition, the manipulation unit 110 is a second actuation pulley (113P2), Article 2 yaw pulley (112P2), Article 2 yaw auxiliary pulley (112S2), Article 2 related to the rotational movement of the (jaw) 122. Article 2 pitch pulley-a (111P2a), Article 2 pitch pulley-b (111P2b), Article 2 pitch secondary pulley-a (111S2a), Article 2 pitch secondary pulley-b (111S2b) may include. (Since the arrangement and configuration of each pulley in the manipulation unit 100 is the same as the arrangement and configuration of each pulley in the end tool 120 in principle, the specific notation of reference numerals in the drawings will be partially omitted.)

Article 1 yaw pulley (112P1) and Article 2 yaw pulley (112P2) may be formed to be rotatable independently of each other about the same axis, the yaw rotation shaft 1121. At this time, Article 1 yaw pulley (112P1) and Article 2 yaw pulley (112P2), respectively, are formed to face each other and may be formed of two pulleys that are formed to be rotatable independently.

Article 1 yo auxiliary pulley (112S1) and Article 2 yo auxiliary pulley (112S2) may be formed to be rotatable independently of each other about the same axis. At this time, Article 1 yaw auxiliary pulley (112S1) may be formed of two pulleys that are formed to face each other and are formed to be rotatably independently, in this case, the two pulleys may be formed to have different diameters. Similarly, Article 2 yaw auxiliary pulley (112S2) may be formed to face each other and may be formed of two pulleys formed to be independently rotatable, in which case the two pulleys may be formed to have different diameters.

Article 1 pitch auxiliary pulley-a(111S1a), Article 1 pitch auxiliary pulley-b(111S1b), Article 2 pitch auxiliary pulley-a(111S2a), Article 2 pitch auxiliary pulley-b(111S2b) have the same axis It may be formed to be rotatable independently of each other about the center. In this case, Article 1 pitch auxiliary pulley -a (111S1a) and Article 1 pitch auxiliary pulley -b (111S1b) may be formed to have different diameters. In addition, Article 2 pitch secondary pulley -a (111S2a) and Article 2 pitch secondary pulley -b (111S2b) may be formed to have different diameters.

Article 1 pitch pulley-a (111P1a), Article 1 pitch pulley-b (111P1b), Article 2 pitch pulley-a (111P2a), Article 2 pitch pulley-b (111P2b) are the same axis pitch rotation axis 1111 ) may be formed to be rotatable independently of each other.

Article 1 wire (130J1) of the manipulation unit 110 Article 1 pitch pulley-a (111P1a), Article 1 pitch auxiliary pulley-a (111S1a), Article 1 yo auxiliary pulley (112S1), Article 1 yo After passing through the pulley (112P1) in turn and wound around the first actuation pulley (113P1), again Article 1 yaw pulley (112P1), Article 1 secondary pulley (112S1), Article 1 pitch secondary pulley-b (111S1b) , Article 1 is formed to pass the pitch pulley-b (111P1b) in turn, Article 1 driving wire (130J1) is formed to move along the pulleys while rotating the pulleys. At this time, Article 1 wire (130J1) may be fixedly coupled to one point of the first actuation pulley (113P1).

Article 2 wire (130J2) of the manipulation unit 110 Article 2 pitch pulley-a (111P2a), Article 2 pitch secondary pulley-a (111S2a), Article 2 secondary pulley (112S2), Article 2 yo After passing through the pulley (112P2) in turn and wound around the second actuation pulley (113P2), Article 2 yaw pulley (112P2), Article 2 secondary pulley (112S2), Article 2 pitch secondary pulley-b (111S2b) , Article 2 is formed to pass the pitch pulley-b (111P2b) in turn, Article 2 wire (130J2) is formed to move along the pulleys while rotating the pulleys. At this time, Article 2 wire (130J2) may be fixedly coupled to one point of the second actuation pulley (113P2).

9 is a figure showing the configuration of pulleys and wires related to the actuation operation and yaw operation of the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 7 for each of Articles 1 and 2, respectively. am. Figure 9 (a) is a view showing only the pulley and wire related to Article 2, Figure 9 (b) is a view showing only the pulley and wire related to Article 1. And, FIG. 10 is a perspective view showing the yaw operation of the surgical instrument of FIG. 7 .

First, the wire operation of the actuation operation will be described.

Referring to FIG. 9 ( b ), when the first actuation rotating unit 1132a rotates in the arrow OPA1 direction about the first actuation rotating shaft 1131a , the first actuation rotating unit 1132a and connected to the first actuation The pulley (113P1) rotates, and both strands of the Article 1 wire (130J1) wound on the first actuation pulley (113P1) move in the W1a and W1b directions, respectively, as a result, Article 1 (121) of the manipulation unit will rotate in the direction of arrow EPA1.

Referring to FIG. 9 (a), when the second actuation rotating unit 1132b rotates in the direction of arrow OPA2 about the second actuation rotating shaft 1131b, a second actuation connected to the second actuation rotating unit 1132b The pulley (113P2) rotates, and both strands of Article 2 wire (130J2) wound on the second actuation pulley (113P2) are moved in the W2a, W2b directions, respectively, as a result, Article 2 (122) of the operation unit will rotate in the direction of arrow EPA2. Therefore, when the user manipulates the first actuation rotating part 1132a and the second actuating rotating part 1132b in a direction closer to each other, the first set 121 and the second set 122 of the end tool move closer to each other This is done.

Next, the wire operation of the yaw operation will be described.

First, since the yaw rotation shaft 1121 and the first actuation rotation shaft 1131a and the second actuation rotation shaft 1131b are connected by the yaw frame (see 1123 in FIG. 7), the yaw rotation shaft 1121 and the first actuation The rotation shaft 1131a and the second actuation rotation shaft 1131b rotate together integrally.

Referring to Figure 9 (b), when the first handle 114 is rotated in the direction of the arrow OPY1 around the yaw rotation shaft 1121, the first actuation pulley (113P1) and Article 1 yaw pulley (112P1) and the excitation Article 1 wire (130J1) wound on the whole is rotated around the yaw axis of rotation 1121, as a result, both strands of Article 1 wire (130J1) wound on the Article 1 yaw pulley (112P1) are W1a, It moves in the W1b direction, and as a result, the first set 121 of the end tool 120 is rotated in the direction of the arrow EPY1.

Referring to Figure 9 (a), when the first handle 114 is rotated in the direction of the arrow OPY2 about the yaw rotation shaft 1121, the second actuation pulley (113P2) and Article 2 yaw pulley (112P2) and the excitation Article 2 wire (130J2) wound on the whole is rotated around the yaw rotation shaft 1121, as a result, both strands of Article 2 wire (130J2) wound on the Article 2 yaw pulley (112P2) are of W1a, respectively. It moves to the opposite side and the opposite side of W1b, and as a result, the first jaw 121 of the end tool 120 is rotated in the direction of the arrow EPY2.

11 is a diagram illustrating the configuration of the pulley and wire related to the pitch operation of the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 7 by unraveling for each of Articles 1 and 2. Figure 11 (a) is a view showing only the pulley and wire related to Article 2, Figure 11 (b) is a view showing only the pulley and wire related to Article 1. As shown in FIG. 8 , there are two pulleys related to the pitch operation, respectively, and both strands of each wire are wound in the same path, so this is expressed as one line in FIG. 11 . And, FIG. 12 is a perspective view showing the pitch operation of the surgical instrument of FIG. 7 .

Referring to Figure 11 (b), when the first handle 114 is rotated in the direction of the arrow OPP1 about the pitch rotation shaft 1111, the first actuation pulley (113P1), Article 1 pitch auxiliary pulley (111S1a, 111S1b) ), Article 1 pitch pulley (111P1a, 111P1b), etc. Article 1 wire wound here (130J1) rotates around the pitch rotation axis 1111 as a whole. At this time, as shown in Figure 8, both strands of the Article 1 wire (130J1) move toward the arrow W1 because they are wound on the upper side of the Article 1 pitch pulleys (111P1a, 111P1b). As a result, as described with reference to FIG. 5, the first set 121 of the end tool 120 is rotated in the direction of the arrow EPP1.

Referring to Figure 11 (a), when the first handle 114 is rotated in the direction of the arrow OPP2 about the pitch rotation shaft 1111, the second actuation pulley (113P2), Article 2 pitch auxiliary pulley (111S2a, 111S2b) ), Article 2 pitch pulleys (111P2a, 111P2b), etc. Article 2 wire (130J2) wound here rotates around the pitch rotation shaft 1111 as a whole. At this time, as shown in Figure 8, both strands of the Article 2 wire (130J2) move toward the arrow W2 because they are wound under the Article 2 pitch pulleys (111P2a, 111P2b). As a result, as described with reference to FIG. 5 , the second set 122 of the end tool 120 rotates in the direction of the arrow EPP2 .

Accordingly, FIG. 7 showing the first embodiment can explain the principle of operation through FIGS. 8, 9, 10, 11, and 12, and actuation operation, yaw operation, and pitch operation can be operated independently of each other.

1, the actuation manipulation unit 113, the yaw manipulation unit 112, and the pitch manipulation unit 111 have their rotation axes located behind each manipulation unit, so that the joint configuration of the end tool is the same, and the user It is possible to perform an intuitively matching operation.

In particular, in the surgical instrument 100 according to an embodiment of the present invention, a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), and the pulley is wire (Article 1 wire or Article 2) Wire) is formed to be wound, and the rotation operation of the operation unit (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, and as a result, it is characterized in that it induces the desired operation of the end tool 120 . Furthermore, auxiliary pulleys may be formed on one side of each pulley, and by these auxiliary pulleys, a wire cannot be wound several times on one pulley, so that the wires wound on the pulley do not contact each other and are wound around the pulley. The path of the thin wire and the winding wire is also formed safely, so that the safety and efficiency of power transmission of the wire can be improved.

On the other hand, as described above, the yaw manipulation unit 112 and the actuation manipulation unit 113 are directly formed on the first handle 114 . Accordingly, when the first handle 114 rotates about the pitch rotation shaft 1111 , the yaw operation unit 112 and the actuation operation unit 113 also rotate together with the first handle 114 . For this reason, the coordinate system of the yaw manipulation unit 112 and the actuation manipulation unit 113 is not fixed, but continues to change relatively according to the rotation of the first handle 114 . That is, in FIG. 2 and the like, the yaw manipulation unit 112 and the actuation manipulation unit 113 are illustrated as being parallel to the Z-axis. However, when the first handle 114 is rotated, the yaw manipulation unit 112 and the actuation manipulation unit 113 are not parallel to the Z-axis. That is, the coordinate system of the yaw manipulation unit 112 and the actuation manipulation unit 113 is changed according to the rotation of the first handle 114 . However, in this specification, for convenience of explanation, unless otherwise specified, the coordinate system of the yaw manipulation unit 112 and the actuation manipulation unit 113 is the first handle 114 as shown in FIG. 2 with respect to the connection unit 140 . It has been described based on the vertical position.

<Various modifications of joints>

The joint structure composed of the main joint pulley and the additional auxiliary pulley for yaw rotation or pulley rotation can be divided into direct joint and indirect joint because different modifications are possible depending on the configuration of the two.

(direct joint and indirect joint - yaw joint)

13 is a diagram illustrating an example of a direct type joint of the yaw joint, and FIG. 14 is a diagram illustrating an example of an indirect type joint of the yaw joint. 13 (a) and 14 (a) are views showing only the pulleys and wires related to Article 2, and FIGS. 13 (b) and 14 (b) are views showing only the pulleys and wires related to Article 1.

Here, the direct type joint refers to the relationship between the pulley corresponding to the joint position and the auxiliary pulley in a configuration having two pulleys adjacent to each other for one joint motion, when the joint part rotates with respect to the rotation axis of the joint part, The auxiliary pulley does not rotate with respect to the axis of rotation of the corresponding joint, and only the pulley corresponding to the joint position rotates with respect to the axis of rotation of the corresponding joint. On the other hand, the indirect type joint refers to a case in which, when the joint part rotates with respect to the rotation axis of the joint part, not only the pulley corresponding to the joint position but also the auxiliary pulley rotates based on the rotation axis of the joint part.

On the other hand, Figure 13 showing a direct type joint is provided with Article 1 yaw pulley (112P1) and Article 1 auxiliary pulley (112S1) formed adjacent to each other for the yaw motion of Article 1 121, and the yaw rotation shaft Positioned on (1121) and rotating around the yaw rotation shaft 1121 during yaw rotation, located on the left in the drawing, the pulley becomes Article 1 yaw pulley (112P1). At this time, Article 1 yaw auxiliary pulley (112S1) is located on the right side of the drawing, and does not rotate about the yaw rotation axis 1121 during yaw rotation.

On the other hand, Figure 14 showing the indirect joint is provided with Article 1 yaw pulley (112P1) and Article 1 auxiliary pulley (112S1) formed adjacent to each other for the yaw motion of Article 1 121, and the yaw rotation shaft Positioned on (1121) and rotating around the yaw rotation shaft 1121 during yaw rotation, located on the right side of the drawing, the pulley becomes Article 1 yaw pulley (112P1). At this time, Article 1 yaw auxiliary pulley (112S1) is located on the left side of the drawing, and rotates around the yaw rotation shaft 1121 during yaw rotation.

Such a direct type joint and an indirect type joint, there is a difference in the direction of movement of the wire when the joint is rotated in the same direction. That is, when the yaw rotation shaft 1121 is rotated in the OPY direction in FIG. 13 showing the direct type joint, one side of the Article 1 wire (130J1) and Article 2 wire (130J2) moves in the direction of the arrow D1, whereas the indirect type When the yaw axis of rotation 1121 is rotated in the OPY direction in FIG. 14 showing the joint, one side of the Article 1 wire (130J1) and Article 2 wire (130J2) moves in the direction opposite to the D1 arrow D2 direction.

As described above, depending on which method of the direct type joint and the indirect type joint structure is configured, for the yaw rotation in the same direction, it is possible to obtain the effect of configuring the movement direction of the wire opposite to each other.

(Direct Joint and Indirect Joint - Pitch Joint)

15 is a diagram illustrating an example of an indirect joint of a pitch joint, and FIG. 16 is a diagram illustrating an example of a direct joint of a pitch joint. 15 (a) and 16 (a) are views showing only the pulleys and wires related to Article 2, and FIGS. 15 (b) and 16 (b) are views showing only the pulleys and wires related to Article 1.

15 (b) showing an indirect joint is Article 1 pitch pulley-a (111P1a) and Article 1 pitch auxiliary pulley-a (111S1a) formed adjacent to each other for the pitch movement of Article 1 (121) In this case, the pulley located on the right side of the drawing becomes Article 1 pitch pulley-a (111P1a).

Figure 16 (b) showing a direct joint is Article 1 pitch pulley -a (111P1a) and Article 1 pitch auxiliary pulley -a (111S1a) formed adjacent to each other for the pitch movement of Article 1 (121) In this case, the pulley located on the left in the drawing becomes Article 1 pitch pulley-a (111P1a).

As such, depending on which method of the direct joint or indirect joint structure is configured, the effect of configuring the movement direction of the wire opposite to each other for the pitch rotation in the same direction can be obtained, and through this, the wire to the pitch pulley You can change the winding direction.

(Various variations of pulley and wire configuration)

The pulley and wire configuration related to the actuation operation and yaw operation of the surgical instrument 100 according to the first embodiment of the present invention shown in FIG. 9 are the path of the wire, the size and arrangement of the joint pulley, the operation unit and the end tool configuration It can have various modifications through the deformation of the like. Hereinafter, various modifications of conceivable pulley and wire configurations will be described.

FIG. 17 is a diagram illustrating the configuration of pulleys and wires related to the operation of Article 1 121 of the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 9 and modifications thereof.

Referring to Figure 17 (a), the surgical instrument 100 according to an embodiment of the present invention shown in Figure 17 (a) basically does not cross the wire within the connection portion (140). That is, in the connection unit 140 connecting the end tool 120 and the operation unit 110, both strands of the Article 1 wire (130J1) are formed in a state that does not cross each other, and the Article 2 wire (130J2) is also Both strands are formed without crossing each other.

On the other hand, the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 17 ( a ) is formed so that each wire spreads within the connection unit 140 . That is, due to the size and spacing of the intermediary pulleys, the interval between both strands of the Article 1 wire 130J1 in the end tool 120 is formed smaller than the interval between both strands that are connected to the intermediary pulley (MP) and formed. , The gap between the two strands of the first set of wire (130J1) toward the intermediate pulley from the end tool 120 gradually increases, so that the first set of wires (130J1) is formed to spread as a whole.

On the other hand, in the surgical instrument 100 according to an embodiment of the present invention shown in Figure 17 (a), the yaw joint of the manipulation unit 110 is formed in a direct type. That is, the surgical instrument 100 is provided with Article 1 yaw pulley (112P1) and Article 1 auxiliary pulley (112S1) formed adjacent to each other for the yaw movement of Article 1 121, at this time on the left side of the drawing The pulley located in Article 1 becomes the yaw pulley (112P1), and the axis of rotation of the Article 1 yaw pulley (112P1) becomes the yaw axis of rotation. At this time, Article 1 yaw auxiliary pulley (112S1) may be formed of two pulleys that are formed to face each other and are formed to be rotatably independently, in this case, the two pulleys may be formed to have different diameters. At this time, so that the wires wound across the Article 1 yaw pulley (112P1) and Article 1 yaw auxiliary pulley (112S1) do not overlap each other on the path, Article 1 yaw pulley (112P1) and Article 1 yaw auxiliary pulley (112S1) ) Each is provided with two pulleys, so that both strands of Article 1 wire (130J1) have a height difference. And, for this purpose, the pitch auxiliary pulley is also made to have two pulleys (Article 1 pitch auxiliary pulley-a (111S1a) and Article 1 pitch auxiliary pulley-b (111S1b)) having different diameters, so that the pulley with a difference in height Article 1 wire (130J1) is configured to be wound naturally in the field.

In the case of Fig. 17 (b), the size of the secondary pitch pulley (Article 1 pitch secondary pulley-a (111S1a) and Article 1 pitch secondary pulley-b (111S1b)) connected with Article 1 yaw auxiliary pulley (112S1) And by different arrangement from the case of Fig. 17 (a), as shown in the figure below in Fig. 17 (b), Article 1 pitch auxiliary pulley-a (111S1a) and Article 1 pitch auxiliary pulley-b (111S1b) ) can be arranged so that the height of the wire wound on the opposite side, as a result, compared to Figure 17 (a) can be configured so that the vertical relationship of both strands of Article 1 wire (130J1) is opposite.

In the case of FIG. 17 ( c ), the first actuation manipulation unit 113a for driving the first set is configured differently from the case of FIG. 17 ( a ), and the actuation operation and yaw operation in the manipulation unit 110 Article 1 wire (130J1) connecting the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) in order to ensure that the operation of the end tool 120 is performed the same as that of Fig. 17 (a) crosses each other It can be configured to

In the case of FIG. 17(d), the configuration of Article 1 121 and the J11 pulley 123J11 is different, and Article 1 121 is formed in a different direction from FIG. 17(a). At this time, the rotation direction of Article 1 121 for the yaw operation is the same as that of FIG. 17 (a), but the rotation direction of Article 1 121 and the J11 pulley 123J11 for the actuation operation is shown in FIG. 17 (a) ) and vice versa. To this end, the operation of the first actuation operation unit (113a) is opposite to FIG. 17 (a) and Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) to allow the Article 1 wire (130J1) to move. Article 1 to connect the wire (130J1) can be configured to cross each other.

In this configuration, two yaw pulleys, two yaw auxiliary pulleys, two pitch pulleys, and two pitch auxiliary pulleys may be formed, and the wires intersecting in the drawing are actually located on different paths and physically contact It does not, and through this, the safety and efficiency of wire and power transmission can be improved.

The above description is for the actuation and yaw operation of Article 1, and the drawings are also for the explanation of the actuation and yaw operation of Article 1, and even without explanation of the intermediate pulley and the pulley related to the pitch operation, it is fully understandable bar, In this figure, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, the case of Article 2 can be fully understood through the drawings and description of Article 1, so the drawings and description of Article 2 will be omitted.

FIG. 18 is a view showing another modified example of the embodiment disclosed in FIG. 17 , and is a modified example in which a wire path and the like are modified in FIG. 17 .

In the case of Figure 18 (a), unlike the configuration according to the first embodiment, both strands of the Article 1 wire (130J1) configured to wind the Article 1 121 pass through the two adjacent connection part mediation pulleys (MP) This is a modified example configured to do so, and to enable the same operation as the configuration according to the first embodiment, the configuration of Article 1 yo auxiliary pulley (112S1), etc. is a modified example.

To this end, Article 1 wire (130J1) passing through the pitch secondary pulley of different sizes (Article 1 pitch secondary pulley-a (111S1a) and Article 1 pitch secondary pulley-b (111S1b)) are adjacent to each other and side by side Formed, Article 1 wire (130J1) passed through Article 1 pitch secondary pulley-a (111S1a) is configured to be wound around Article 1 yaw auxiliary pulley (112S1), Article 1 pitch secondary pulley-b (111S1b) Article 1 wire passing through (130J1) is formed to be wound directly on Article 1 yaw pulley (112P1) without being wound on the auxiliary pulley yaw, and through this, the modification described in Fig. 18 (a) is the first embodiment The same operation as in the example is possible. The configuration according to FIG. 18 (a) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration, and the like.

In the case of FIG. 18(b), by changing the size of the pitch auxiliary pulley connected to the yaw auxiliary pulley from the case of FIG. 18(a), as shown in the figure below in FIG. 18(b), Article 1 pitch auxiliary pulley-a ( The height of the wire wound on the 111S1a) and the wire wound on the Article 1 pitch auxiliary pulley-b (111S1b) can be arranged to be opposite, and as a result, the height of the wire wound on the Article 1 pitch auxiliary pulley-b (111S1b) is opposite to that of the Article 1 wire (130J1) compared to FIG. It can be configured so that the relationship between the two strands is reversed. In the case of Fig. 18 (c), the actuation operation unit 113a for the first set of driving is configured differently from the case of Fig. 18 (a), and the actuation operation in the operation unit 110 and the end tool by the yaw operation In order to ensure that the operation of 120 is performed in the same manner as in FIG. 18(a), Article 1 wire (130J1) connecting the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) is configured to cross each other can do.

In the case of FIG. 18(d), the configuration of Article 1 121 and the J11 pulley 123J11 is different, and Article 1 121 is formed in a different direction from FIG. 18(a). At this time, the rotation direction of Article 1 121 for the yaw operation is the same as that of Fig. 18 (a), but the rotation direction of Article 1 121 and the J11 pulley 123J11 for the actuation operation is shown in Fig. 18 (a) ) and vice versa. To this end, the operation of the first actuation manipulation unit (113a) is opposite to FIG. 18 (a) and Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) to allow the Article 1 wire (130J1) to move. Article 1 to connect the wire (130J1) can be configured to cross each other.

In this configuration, two yaw pulleys, one yaw auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed, and the wires crossed in the drawing are actually located on different paths and physically contact It does not, and through this, the safety and efficiency of wire and power transmission can be improved.

The above description is for the actuation and yaw operation of Article 1, and the drawings are also for the explanation of the actuation and yaw operation of Article 1, and even without explanation of the intermediate pulley and the pulley related to the pitch operation, it is fully understandable bar, In this figure, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, the case of Article 2 can be fully understood through the drawings and description of Article 1, so the drawings and description of Article 2 will be omitted.

FIG. 19 is a view showing another modified example of the embodiment disclosed in FIG. 17 , and is a modified example in which a wire path and the like are modified in FIG. 17 .

In the case of FIG. 19 (a), unlike the configuration according to the first embodiment, both strands of the Article 1 wire 130J1 configured to wind the Article 1 121 cross each other, so that the two connecting part intermediary pulleys MP ) is a modified example configured to pass, and to enable the same operation as the configuration according to the first embodiment, the configuration of Article 1 yo auxiliary pulley (112S1), etc. is a modified example.

In addition, in the case of FIG. 19 ( a ), unlike the configuration according to the first embodiment, the wire crosses at least once in the connection part 140 . That is, in the connection unit 140 connecting the end tool 120 and the manipulation unit 110, both strands of the Article 1 wire 130J1 are formed to cross each other, and the Article 2 wire 130J2 also has both strands. These are formed to cross each other. However, when viewed from a two-dimensional plane in the drawing, both strands of each wire appear to cross each other, but in reality, it is easy to prevent the wires from physically contacting each other through the appropriate three-dimensional positioning of the intermediary pulleys to which the wires are connected. configurable.

On the other hand, Article 1 pitch auxiliary pulley -a (111S1a) and Article 1 pitch auxiliary pulley-b (111S1b) are formed to have the same diameter, Article 1 wire wound around Article 1 pitch auxiliary pulley-b (111S1b) (130J1) was made to be wound on the Article 1 yaw pulley (112P1) through the Article 1 yaw auxiliary pulley (112S1). On the other hand, in the case of Article 1 wire (130J1) wound on Article 1 pitch auxiliary pulley-a (111S1a), it may be formed to be wound directly on Article 1 yaw pulley (112P1) without yaw auxiliary pulley, and through this, Fig. In the modified example described in 19(a), the same operation as that of the first embodiment is possible.

The configuration according to FIG. 19 ( a ) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration.

In the case of FIG. 19(b), the size of the secondary pulley connected to the yaw secondary pulley is different from the case of FIG. 19(a), and Article 1 pitch secondary pulley-a (111S1a) and Article 1 pitch secondary pulley- By forming a different diameter of b (111S1b), as shown in the figure below in Figure 19 (b), Article 1 yaw pulley (112P1) two pulleys can be located at different heights. This is easy to apply to the configuration in which Article 1 wire (130J1) crosses between the first actuation pulley (113P1) and the Article 1 yaw pulley (112P1) as shown in FIG. 19(c) to be described later, Article 1 wire It is possible to ensure that the two sides of (130J1) do not actually have physical contact.

In the case of Fig. 19 (c), the actuation operation unit 113a for the first actuation is configured differently from the case of Fig. 19 (a), and the end tool by the actuation operation and yaw operation in the operation unit 110 In order to ensure that the operation of 120 is performed in the same manner as in Fig. 19 (a), Article 1 wire (130J1) connecting the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) is configured to cross each other can do.

In the case of FIG. 19(d), the configuration of Article 1 121 and the J11 pulley 123J11 is different, and Article 1 121 is formed in a direction different from that of FIG. 19(a), At this time, the rotation direction of Article 1 121 for the yaw operation is the same as that of FIG. 19 (a), but the rotation direction of Article 1 121 and the J11 pulley 123J11 for the actuation operation is shown in FIG. 19 (a) ) and vice versa. To this end, Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) in order to allow the operation of the first actuation operation unit (113a) to move the Article 1 wire (130J1) as opposed to Fig. 19 (a). Article 1 to connect the wire (130J1) can be configured to cross each other.

In this configuration, one or two yaw pulleys, one yaw auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed, and the wires crossed in the drawing are actually located on different paths, There is no physical contact, and through this, the safety and efficiency of wire and power transmission can be improved.

In addition, it is also possible to arrange a pitch pulley instead of the pitch auxiliary pulley shown on the drawing.

The above description is for the actuation and yaw operation of Article 1, and the drawings are also for the explanation of the actuation and yaw operation of Article 1, and even without explanation of the intermediate pulley and the pulley related to the pitch operation, it is fully understandable bar, In this figure, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, the case of Article 2 can be fully understood through the drawings and description of Article 1, so the drawings and description of Article 2 will be omitted.

FIG. 20 is a view showing another modified example of the embodiment disclosed in FIG. 17 , and is a modified example in which a wire path and the like are modified in FIG. 17 .

In the case of Figure 20 (a), unlike the configuration according to the first embodiment, the two strands of the Article 1 wire (130J1) configured to wind the Article 1 121 cross each other and are not adjacent to each other. (MP) is a modified example configured to pass through, and to enable the same operation as the configuration according to the first embodiment, the configuration of Article 1 yo auxiliary pulley (112S1), etc. is a modified example.

In addition, in the case of FIG. 20( a ), unlike the configuration according to the first embodiment, the wire crosses at least once in the connection part 140 . That is, in the connection unit 140 connecting the end tool 120 and the manipulation unit 110, both strands of the Article 1 wire 130J1 are formed to cross each other, and the Article 2 wire 130J2 also has both strands. These are formed to cross each other. However, when viewed in a two-dimensional plane in the drawing, both strands of each wire seem to cross each other, but through an appropriate three-dimensional configuration of the intermediary pulleys to which the actual wires are connected, the wires are easily configured so that they do not physically contact each other can do.

In addition, pitch auxiliary pulleys of different sizes (Article 1 pitch auxiliary pulley-a (111S1a) and Article 1 pitch auxiliary pulley-b (111S1b)) were formed, and Article 1 pitch auxiliary pulley, which is the outer pitch auxiliary pulley, was formed. -a (111S1a) is configured to be larger so that the wire wound on the outer pitch auxiliary pulley is wound on the Article 1 yaw auxiliary pulley (112S1) located on the lower side.

On the other hand, in the surgical instrument 100 according to an embodiment of the present invention shown in Fig. 20 (a), the yaw joint of the manipulation unit 110 is formed in an indirect type. That is, the surgical instrument 100 is provided with Article 1 yaw pulley (112P1) and Article 1 yaw auxiliary pulley (112S1) formed adjacent to each other for the yaw movement of Article 1 121, at this time on the right side in the drawing The pulley located in Article 1 becomes the yaw pulley (112P1), and the axis of rotation of the Article 1 yaw pulley (112P1) becomes the yaw axis of rotation. In this case, Article 1 yaw auxiliary pulley (112S1) and the first actuation pulley ( Article 1 connecting the 113P1) wire (130J1) can be configured to cross each other.

The configuration according to Fig. 20 (a) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration.

In the case of FIG. 20 (b), the size of the secondary pitch pulley (Article 1 pitch secondary pulley-a (111S1a) and Article 1 pitch secondary pulley-b (111S1b)) connected with Article 1 yaw auxiliary pulley (112S1) And by setting the arrangement different from that of Fig. 20 (a), the height of the wire wound on the Article 1 pitch auxiliary pulley-a (111S1a) and the wire wound on the Article 1 pitch auxiliary pulley-b (111S1b) is opposite It can be arranged so that, as a result, it can be configured so that the vertical relationship of both strands of the Article 1 wire (130J1) is opposite compared to FIG. 20 (a).

In the case of Fig. 20 (c), the actuation operation unit 113a for the first set of driving is configured differently from the case of Fig. 20 (a), and the end tool by the actuation operation and the yaw operation in the operation unit 110 In order to ensure that the operation of 120 is performed in the same manner as in FIG. 20 (a), Article 1 wire (130J1) connecting the Article 1 yo auxiliary pulley (112S1) and the first actuation pulley (113P1) does not cross each other. It can be configured not to.

In the case of FIG. 20(d), the configuration of Article 1 121 and J11 pulley 123J11 is different, and Article 1 121 is formed in a different direction from FIG. 20(a). At this time, the rotation direction of Article 1 121 for the yaw operation is the same as that of FIG. ) and vice versa. To this end, the operation of the first actuation manipulation unit (113a) is opposite to FIG. 20 (a), and in order to allow the Article 1 wire (130J1) to move, Article 1 yaw auxiliary pulley (112S1) and the first actuation pulley (113P1) Article 1 connecting the wires (130J1) can be configured so that they do not cross each other.

In this configuration, two yaw pulleys, two yaw auxiliary pulleys, two pitch pulleys, and two pitch auxiliary pulleys may be formed, and the wires intersecting in the drawing are actually located on different paths and physically contact It does not, and through this, the safety and efficiency of wire and power transmission can be improved.

The above description is for the actuation and yaw operation of Article 1, and the drawings are also for the explanation of the actuation and yaw operation of Article 1, and even without explanation of the intermediate pulley and the pulley related to the pitch operation, it is fully understandable bar, In this figure, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, the case of Article 2 can be fully understood through the drawings and description of Article 1, so the drawings and description of Article 2 will be omitted.

FIG. 21 is a view showing another modified example of the embodiment disclosed in FIG. 17 , and is a modified example in which a wire path and the like are modified in FIG. 17 .

In the case of Figure 21 (a), unlike the configuration according to the first embodiment, both strands of the Article 1 wire 130J1 configured to wind the Article 1 121 cross each other, so that the two connecting part mediation pulleys MP adjacent to each other ) is a variation configured to pass through, and Article 2 wire (130J2) is also formed so that both strands cross each other.

On the other hand, Article 1 pitch auxiliary pulley -a (111S1a) and Article 1 pitch auxiliary pulley-b (111S1b) are formed to have the same diameter, Article 1 wire wound around Article 1 pitch auxiliary pulley-b (111S1b) (130J1) was made to be wound on the Article 1 yaw pulley (112P1) through the Article 1 yaw auxiliary pulley (112S1). On the other hand, in the case of Article 1 wire (130J1) wound on Article 1 pitch auxiliary pulley-a (111S1a), it may be formed to be wound directly on Article 1 yaw pulley (112P1) without yaw auxiliary pulley, and through this, Fig. In the modified example described in 21(a), the same operation as that of the first embodiment is possible.

Here, in the case of Figure 21 (a), it is characterized in that the yaw pulley and the actuation pulley are not formed separately, but a common yaw pulley is used. At this time, in order to implement the actuation operation, the yaw pulley and the actuation operation unit may be connected with a gear or the like. (refer to the second embodiment)

The configuration according to Fig. 21 (a) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration.

In the case of FIG. 21 (b), the size of the secondary pitch pulley (Article 1 pitch secondary pulley-a (111S1a) and Article 1 pitch secondary pulley-b (111S1b)) connected with Article 1 yaw auxiliary pulley (112S1) And the arrangement is different from the case of Figure 21 (a), Article 1 yaw auxiliary pulley (112S1) can be made larger than Article 1 yaw pulley (112P1), through which both strands of Article 1 wire (130J1) These may have intersecting effects. Therefore, in the connection portion 140 connecting the end tool 120 and the operation unit 110, both strands of the Article 1 wire (130J1) do not cross each other and pass through the two connecting portion mediation pulleys (MP) adjacent to each other. configurable.

In the case of FIG. 21 ( c ), the actuation manipulation unit 113a for driving of Article 1 is different from the case of FIG. This is a case in which the first set 121 is formed in a direction different from that of FIG. 21 (a).

In the case of Figure 21 (d), compared to Figure 21 (b), Article 1 yaw auxiliary pulley (112S1) and connected pitch auxiliary pulley (Article 1 pitch auxiliary pulley -a (111S1a) and Article 1 pitch auxiliary pulley - By varying the size and arrangement of b(111S1b)), the height of the wire wound on Article 1 pitch auxiliary pulley-a (111S1a) and the wire wound on Article 1 pitch auxiliary pulley-b (111S1b) are opposite to each other It can be arranged, and as a result, compared to Figure 21 (b), Article 1 wire (130J1) can be configured so that the upper and lower relationships of both strands are opposite.

In this configuration, one or two yaw pulleys, one yaw auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed, and the wires crossed in the drawing are actually located on different paths, There is no physical contact, and through this, the safety and efficiency of wire and power transmission can be improved. In addition, it is also possible to arrange a pitch pulley instead of the pitch auxiliary pulley shown on the drawing.

The above description is for the actuation and yaw operation of Article 1, and the drawings are also for the explanation of the actuation and yaw operation of Article 1, and even without explanation of the intermediate pulley and the pulley related to the pitch operation, it is fully understandable bar, In this figure, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, the case of Article 2 can be fully understood through the drawings and description of Article 1, so the drawings and description of Article 2 will be omitted.

22 is a view showing another modified example of the embodiment disclosed in FIG. 17 , and is a modified example in which a wire path in FIG. 17 is modified.

In the case of Figure 22 (a), unlike the configuration according to the first embodiment, both strands of the Article 1 wire (130J1) configured to wind the Article 1 121 pass through the two connecting part mediation pulleys (MP) adjacent to each other This is a modified example configured to do so, and to enable the same operation as the configuration according to the first embodiment, the configuration of Article 1 yo auxiliary pulley (112S1), etc. is a modified example.

To this end, Article 1 wire (130J1) passing through the pitch secondary pulley of different sizes (Article 1 pitch secondary pulley-a (111S1a) and Article 1 pitch secondary pulley-b (111S1b)) are adjacent to each other and side by side Formed, Article 1 wire (130J1) passed through Article 1 pitch secondary pulley-a (111S1a) is configured to be wound around Article 1 yaw auxiliary pulley (112S1), Article 1 pitch secondary pulley-b (111S1b) Article 1 wire (130J1) passing through the auxiliary pulley (SP) is formed to be wound on Article 1 yo auxiliary pulley (112S1) through the auxiliary pulley (SP), through which the modification described in Fig. 22 (a) through the first embodiment The same operation as in the example becomes possible.

Here, FIG. 22 shows that Article 1 pitch secondary pulley-b (111S1b) is formed adjacent to Article 1 pitch secondary pulley-a (111S1a) as compared with FIG. 17, and Article 1 pitch secondary pulley and Article 1 secondary pulley ( 112S1) between the auxiliary pulley (SP) is added, Article 1 pitch secondary pulley-b (111S1b) Article 1 wire (130J1) passing through the secondary pulley (SP) Article 1 secondary pulley (112S1) ) can be easily wound on the That is, by additionally forming the auxiliary pulley (SP), in the connection portion 140 connecting the end tool 120 and the operation unit 110, both strands of Article 1 wire (130J1) are adjacent to each other two connection portion intermediary pulleys (MP) can pass side by side, with this Article 1 wire (130J1) can also be configured adjacent to each other pitch secondary pulley that passes. In addition, when the secondary pulley 112S1 is composed of two pulleys, the diameter of each pulley can be configured to be the same as each other.

The configuration according to FIG. 22 ( a ) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration.

In the case of Figure 22 (b), by different from the case of Figure 22 (a) in the size and arrangement of the pitch auxiliary pulley connected to the yaw auxiliary pulley, Article 1 pitch auxiliary pulley -a (111S1a) and the wire wound around the 1 set pitch auxiliary pulley-b (111S1b) can be arranged such that the height of the wire wound on the opposite side, as a result, compared to Figure 22 (a), the vertical relationship of both strands of the first set wire (130J1) is opposite It can be configured to

In the case of Figure 22 (c), the actuation operation part 113a for the first set of driving is configured differently from the case of Figure 22 (a), and the end tool by the actuation operation and yaw operation in the operation part 110 In order to ensure that the operation of 120 is performed in the same manner as in FIG. 22(a), Article 1 wire (130J1) connecting the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) is configured to cross each other can do.

In the case of FIG. 22(d), the configuration of Article 1 121 and the J11 pulley 123J11 is different, and Article 1 121 is formed in a direction different from that of FIG. 22(a), At this time, the rotation direction of Article 1 121 for the yaw operation is the same as that of FIG. 22 (a), but the rotation direction of Article 1 121 and the J11 pulley 123J11 for the actuation operation is shown in FIG. 22 (a) ) and vice versa. To this end, the operation of the first actuation manipulation unit (113a) is opposite to FIG. 22 (a), and Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) are separated in order to move the Article 1 wire (130J1). Article 1 to connect the wire (130J1) can be configured to cross each other.

In this configuration, two yaw pulleys, two yaw auxiliary pulleys, one auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed, and the wires that intersect in the drawing are actually located on different paths. Therefore, there is no physical contact, and through this, the safety and efficiency of wire and power transmission can be improved.

The above description is for the actuation and yaw operation of Article 1, and the drawings are also for the explanation of the actuation and yaw operation of Article 1, and even without explanation of the intermediate pulley and the pulley related to the pitch operation, it is fully understandable bar, In this figure, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, the case of Article 2 can be fully understood through the drawings and description of Article 1, so the drawings and description of Article 2 will be omitted.

23 is a view showing another modified example of the embodiment disclosed in FIG. 22 , and is an example in which a wire path in FIG. 22 is modified.

In the case of Figure 22, among the Article 1 yaw pulley (112P1) and Article 1 yaw auxiliary pulley (112S1) formed adjacent to each other for the yaw operation of Article 1 121, the pulley located on the left side of the drawing is Article 1 Contrary to being the yaw pulley (112P1), in the case of FIG. 23, the pulley located on the right side in the drawing becomes the Article 1 yaw pulley (112P1) and the pulley located on the left becomes the Article 1 yaw auxiliary pulley (112S1). That is, in the case of FIG. 22 , the yaw joint is a direct type joint, and in the case of FIG. 23 , the yaw joint may be an indirect type joint.

Due to this difference, the movement direction of both strands of the Article 1 wire 130J1 due to the yaw rotation of the operation unit 110 is opposite to that of FIG. 22(a) in the case of FIG. 23(a). In this case, the end tool 120 and the operation unit 110 are connected so that the operation of the end tool 110 by the actuation operation and the yaw operation in the operation unit 120 is performed in the same manner as in FIG. 22 (a). In the connection unit 140, both strands of the Article 1 wire (130J1) cross each other and can be configured to pass through two adjacent connection unit intermediary pulleys (MP).

The configuration according to FIG. 23 ( a ) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration.

In the case of Figure 23 (b), by different from the case of Figure 23 (a) in the size and arrangement of the pitch auxiliary pulley connected to the yaw auxiliary pulley, Article 1 pitch auxiliary pulley -a (111S1a) and the wire wound around the 1 set pitch auxiliary pulley-b (111S1b) can be arranged so that the height of the wire wound on the opposite side, as a result, compared to Figure 23 (a), the vertical relationship of both strands of the first set wire (130J1) is opposite It can be configured to

In the case of Fig. 23 (c), the actuation operation unit 113a for the first set of driving is configured differently from the case of Fig. 23 (a), and the end tool by the actuation operation and yaw operation in the operation unit 110 In order to ensure that the operation of 120 is performed in the same manner as in FIG. 23 (a), Article 1 wire (130J1) connecting the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) does not cross each other configurable.

In the case of FIG. 23(d), the configuration of Article 1 121 and the J11 pulley 123J11 is different, and Article 1 121 is formed in a different direction from FIG. 23(a). At this time, the rotation direction of Article 1 121 for the yaw operation is the same as that of FIG. 23 (a), but the rotation direction of Article 1 121 and the J11 pulley 123J11 for the actuation operation is shown in FIG. 23 (a) ) and vice versa. To this end, the operation of the first actuation manipulation unit (113a) is opposite to FIG. 23 (a), and Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) in order to allow the Article 1 wire (130J1) to move. Article 1 to connect wires (130J1) can be configured so that they do not cross each other.

In this configuration, two yaw pulleys, two yaw auxiliary pulleys, one auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed, and the wires that intersect in the drawing are actually located on different paths. Therefore, there is no physical contact, and through this, the safety and efficiency of wire and power transmission can be improved.

The above description is for the actuation and yaw operation of Article 1, and the drawings are also for the explanation of the actuation and yaw operation of Article 1, and even without explanation of the intermediate pulley and the pulley related to the pitch operation, it is fully understandable bar, In this figure, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, the case of Article 2 can be fully understood through the drawings and description of Article 1, so the drawings and description of Article 2 will be omitted.

FIG. 24 is a view showing another modified example of the embodiment disclosed in FIG. 21 , and is a modified example in which a wire path and the like are modified in FIG. 21 .

In the case of FIG. 21, the yaw pulley and the actuation pulley are not formed separately, and unlike using a common yaw pulley, in the case of FIG. 24 (a), an additional actuation pulley (113P1) in addition to the yaw pulley (112P1) formed separately. To this end, both strands of Article 1 wire 130J1 passing through Article 1 pitch auxiliary pulley-a (111S1a) and Article 1 pitch auxiliary pulley-b (111S1b) are wound around the yaw pulley (112P1), then cross each other It is wound around the actuation pulley (113P1). At this time, in the case of FIG. 24 (a), in the case of FIG. 24 (a), the position and rotation direction of the actuation manipulation unit 113a are Constructed to be the opposite of the case.

The configuration according to Fig. 24 (a) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration.

Unlike the case of Figure 24 (a), Article 1 yaw auxiliary pulley (112S1) can be made larger than Article 1 yo pulley (112P1), through which both strands of Article 1 wire (130J1) cross each other can have the effect of Therefore, in the connection portion 140 connecting the end tool 120 and the operation unit 110, both strands of the Article 1 wire (130J1) do not cross each other and pass through the two connecting portion mediation pulleys (MP) adjacent to each other. configurable.

In the case of Fig. 24 (c), the actuation operation unit 113a for the driving of Article 1 is different from the case of Fig. 24 (a), and at the same time, by changing the configuration of Article 1 121 and the J11 pulley (123J11) This is a case in which the first set 121 is formed in a direction different from that of FIG. 24 (a).

In the case of Fig. 24 (d), compared to Fig. 24 (b), Article 1 yaw auxiliary pulley (112S1) and connected pitch auxiliary pulley (Article 1 pitch auxiliary pulley -a (111S1a) and Article 1 pitch auxiliary pulley - By varying the size and arrangement of b(111S1b)), the height of the wire wound on Article 1 pitch auxiliary pulley-a (111S1a) and the wire wound on Article 1 pitch auxiliary pulley-b (111S1b) are opposite to each other It can be arranged, and as a result, it can be configured such that the vertical relationship of both strands of Article 1 wire (130J1) is opposite to that of Figure 24 (b).

In this configuration, one or two actuation pulleys, one or two yaw pulleys, one yaw auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed in common, The wire is actually located on a different path and does not physically contact, thereby improving safety and efficiency of power transmission with the wire. In addition, it is also possible to arrange a pitch pulley instead of the pitch auxiliary pulley shown on the drawing.

The above description is for the actuation and yaw operation of Article 1, and the drawings are also for the explanation of the actuation and yaw operation of Article 1, and even without explanation of the intermediate pulley and the pulley related to the pitch operation, it is fully understandable bar, In this figure, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, the case of Article 2 can be fully understood through the drawings and description of Article 1, so the drawings and description of Article 2 will be omitted.

FIG. 25 is a view showing another modified example of the embodiment disclosed in FIG. 17 , and is a modified example in which a wire path and the like are modified in FIG. 17 .

Here, this modification is different from the embodiment of Figure 17 in that the ends of both strands of the Article 1 wire (130J1) are not coupled to the same actuation pulley, but are coupled to different actuation pulleys. That is, Article 1 one end of the wire (130J1) is coupled to the first actuation pulley (113P1), the other end of the Article 1 wire (130J1) is coupled to the second actuation pulley (113P2). In this case, it is essential that the rotation of the two actuation pulleys be synchronized by a component such as a gear. That is, when one actuation pulley rotates, the two actuation pulleys must be connected so that the other actuation pulley also rotates accordingly.

In this way, since the rotation of the two actuation pulleys is synchronized with each other due to gears, etc., both strands of the Article 1 wire (130J1) are not necessarily wound on one actuation pulley, but the same even if wound around different actuation pulleys. effect can be realized.

Such a structure can be seen as a dotted line in Fig. 25 (a), Article 1 wire (130J1) can be seen as virtually constituting a closed circuit, therefore, it can be expressed as a kind of virtual loop (virtual loop).

The configuration according to Fig. 25 (a) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration.

Figure 25 (b) is a case in which the actuation pulley coupled to both ends of the Article 1 wire (130J1) is configured differently from Figure 25 (a). That is, one end of the Article 1 wire (130J1) that was coupled to the first actuation pulley (113P1) in FIG. 25 (a) is coupled to the second actuation pulley (113P2) this time. Similarly, the other end of the Article 1 wire (130J1) that was coupled to the second actuation pulley (113P2) in Fig. 25 (a) is coupled to the first actuation pulley (113P1) this time.

As such, the wire wound around the yaw pulley and connected to the actuation pulley may be connected to any of the two actuation pulleys. This is because the two actuation pulleys are synchronized with each other by a gear or the like. However, regardless of which actuation pulley is wound, the winding direction must be appropriately wound according to the direction in which the actuation pulley rotates so that the actuation operation can finally match the actuation operation of the end tool.

The above description is for the actuation and yaw operation of Article 1, and the drawings are also for the explanation of the actuation and yaw operation of Article 1, and even without explanation of the intermediate pulley and the pulley related to the pitch operation, it is fully understandable bar, In this figure, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, the case of Article 2 can be fully understood through the drawings and description of Article 1, so the drawings and description of the operation of Article 2 will be omitted.

26 is a view showing another modified example of the embodiment disclosed in FIG. 25, and is a modified example in which the position of the actuation pulley in FIG. 25 is modified.

Here, this modified example is different from the embodiment of Figure 25 in that the two actuation pulleys are not formed to be close to each other, but are spaced apart from each other and formed on opposite sides of the Article 1 yaw pulley (112P1). Even in this case, if the two actuation pulleys are synchronized with each other by a gear, the same operation as the example described in FIG. 25 is possible.

By such a configuration, the actuation pulley can be disposed behind other embodiments, that is, the actuation handle can be lengthened, so that the actuation operation can be performed more easily. This is because, according to the lever principle, the longer the handle, the less force the actuation operation can be performed.

Figure 26 (a) is for the explanation of the actuation of Article 1, the yaw operation, and Figure 26 (b) is for the explanation of the actuation and the yaw operation of the second set.

The configuration according to FIGS. 26 ( a ) and 26 ( b ) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration, and the like.

27 is a view showing another modified example of the embodiment disclosed in FIG. 17, and is a modified example in which the position of the actuation pulley in FIG. 25 is modified.

In the case of Figure 27 (a), unlike the configuration according to the first embodiment, both strands of the Article 1 wire (130J1) configured to wind the Article 1 121 pass through the two adjacent connection part mediation pulleys (MP) and Article 1 yaw pulley (112P1) and Article 1 secondary pulley (112S1) formed adjacent to each other for yaw movement, wherein the pulley located on the right side in the drawing is Article 1 yaw pulley (112P1) becomes, and the axis of rotation of the Article 1 yaw pulley (112P1) becomes the axis of rotation of the yaw.

Here, this modified example is different from the embodiment of FIG. 17 in that the two actuation pulleys are not formed to be close to each other, but are spaced apart from each other and formed on opposite sides of the yaw pulley.

In addition, it is different from the embodiment of FIGS. 17, 25, 26 and the like in that the positional relationship (front and rear relationship) between the yaw pulley and the yaw auxiliary pulley is changed. That is, despite being a direct joint, the pulley located on the right side in the drawing becomes the Article 1 yaw pulley (112P1), and the axis of rotation of the Article 1 yaw pulley (112P1) becomes the yaw axis of rotation, and to implement this, Article 1 Article 1 wire past the pitch auxiliary pulley-a (111S1a) is fixed to the first actuation pulley (113P1) past the Article 1 yaw pulley (112P1) after winding Article 1 yaw auxiliary pulley (112S1). And, the Article 1 wire passing through Article 1 pitch auxiliary pulley-b (111S1b) does not go through Article 1 yaw auxiliary pulley (112S1), directly passing Article 1 yaw pulley (112P1), and the first actuation pulley (113P1) ) is fixedly coupled to

By such a configuration, it is possible to arrange the yaw rotation shaft closer to the pitch rotation shaft than other embodiments, and as a result, there is an effect that can provide a more natural and intuitive operation feeling in the user's operation.

In addition, it is possible to arrange the actuation pulley at the rear than other embodiments by such a configuration, that is, the actuation handle can be lengthened, so that the actuation operation can be performed more easily. This is because, according to the lever principle, the longer the handle, the less force the actuation operation can be performed.

Figure 27 (a) is for the explanation of the actuation and yaw operation of Article 1, and Figure 27 (b) is for the explanation of the actuation and yaw operation of the second set.

The configuration according to FIGS. 27 ( a ) and 27 ( b ) may have various modifications through deformation of the wire path, the size and arrangement of the joint pulley, the operation unit and the end tool configuration.

* One modification of the actuation control unit

28 is a view showing another modified example of the embodiment disclosed in FIG. 8 .

Here, the surgical instrument according to this modified example is compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 8 ) of the operation unit 110 of the surgical instrument Actuation pulley (113P) composition is characteristically different. That is, in the surgical instrument 100 of FIG. 8, an actuation pulley is formed on each of the two actuation rotation shafts, and each pair of wires is wound around each actuation pulley.

In detail, in the surgical instrument 100 of Figure 8, the first actuation pulley (113P1) is formed on the first actuation rotation shaft (1131a), Article 1 wire (130J1) to the first actuation pulley (113P1) formed to wrap. Similarly, a second actuation pulley (113P2) is formed on the second actuation axis of rotation (1131b), Article 2 wire (130J2) is formed to be wound around the second actuation pulley (113P2).

On the other hand, in the modified example shown in FIG. 28, it is characteristically different in that it is formed so that both wires are wound on one actuation axis of rotation. That is, the actuation pulley (113P) is formed on the actuation axis of rotation 1131, Article 1 wire (130J1) is wound under the actuation pulley (113P), Article 2 wire (130J2) is the actuation pulley ( 113P) is formed to be wound on top. However, since the two wires 130J1 and 130J2 must move in opposite directions by the rotation of one actuation axis of rotation 1131, one of the two wires must be formed to intersect. In Figure 28, Article 2 wire (130J2) is formed so as to cross once between the actuation pulley (113P) and Article 2 yaw pulley (112P2).

In addition to the actuation shaft and the actuation pulley, the configuration of the remaining actuation manipulation units, that is, the first actuation rotating unit (not shown), the first actuation gear (1134a), the second actuation rotating unit (not shown), the second actuation gear (1134b) is the same. Here, the gear allows the operation of the two actuation rotating parts to be connected to each other, and as a result, among the two fingers gripping the two actuation rotating parts, one operation causes the other one's motion, as well as the amount of each rotation with each other It can play a role in matching. For this effect, not only gears, but also structures such as links will be possible.

* One modification of the pitch control unit

29 is a view showing another modified example of the embodiment disclosed in FIG. 16 . Here, Fig. 29(a) is a side view, and Fig. 29(b) is a plan view.

Here, the surgical instrument according to this modified example is characterized in that the configuration of the pitch pulleys of the manipulation unit 110 and the end tool 120 of the surgical instrument compared to the surgical instrument of the present invention described above (see 100 in FIG. 16 ) is characteristic. changes to That is, in the surgical instrument 100 of FIG. 16, the pitch pulleys are configured to have the same diameter, but in FIG. 29, the pitch pulleys are configured to have different diameters.

That is, in the end tool 120, the J12 pulley (123J12) and the J14 pulley (123J14) formed to face each other are formed to have different diameters, and the first pitch pulley-a (111P1a) formed to face each other in the manipulation unit 110 as well. ) and Article 1 pitch pulley-b (111P1b) is formed to have different diameters.

At this time, the diameter ratio of the different pitch pulleys on the side of the end tool 120 (that is, the diameter ratio of the J12 pulley (123J12) and the J14 pulley (123J14)) and the diameter ratio of the different pitch pulleys of the manipulation unit 110 (first By configuring the pitch pulley-a (111P1a) and the diameter ratio of the pitch pulley-b (111P1b) in Article 1) the same, the amount of movement and the pitch rotation of both strands of the wire by the pitch rotation of the manipulation unit 110 By equalizing the amount of movement of both strands of the rough wire on the end tool 120 side, the pitch operation can be performed normally. Through this, even in the case of a direct-type pitch joint, it can be configured using pitch pulleys of different diameters. In this way, it is also applicable to the case of the lumbar joint. That is, by varying the diameters of the yaw pulleys of the manipulation unit 110 and the diameters of the J11 pulleys 123J11 and J21 pulleys 123J21 of the end tool 120 at the same time, the yaw pulleys of different diameters are applied to the direct type yaw joint. can be configured using

As described above, the surgical instrument 100 according to the first embodiment of the present invention is a surgical instrument 100 according to the first embodiment of the present invention through various modifications of the yaw joint, the pitch joint, and the actuation joint. It can be modified into various embodiments that perform the same function. It will be possible to compose a variety of various modifications by combining each of the modifications given as examples of modifications of each joint.

On the other hand, although not shown in the drawings, the spirit of the present invention is not limited thereto, and various wires, pulleys, and joints composed of these to perform the same function as the surgical instrument 100 according to the first embodiment of the present invention. It would be possible to combine them.

<Insulation Related Modifications>

30 and 31 are diagrams illustrating a modified example related to insulation.

30 and 31 , the surgical instrument according to this modified example further includes an insulating assembly for insulation of each wire, compared to the surgical instrument of the present invention described above (see 100 in FIG. 2 ) characterized by one. That is, by separating the end tool and the operation part to be electrically insulated, the operation part is safely electrically insulated even when an additional wire is connected to the jaw to use the jaw of the end tool for electrical work. To this end, an insulating assembly is provided in the middle of each wire physically connecting the end tool and the manipulation unit to insulate the end tool and the manipulation unit. To this end, the first insulating assembly 135, the second insulating assembly 136, and the third insulating assembly 137 are sequentially provided in the middle of the bent part 141 of the connecting part 140, so that each insulating assembly is provided in sequence. Insulate each two wires in turn.

Although the drawing shows that the first insulating assembly 135, the second insulating assembly 136, and the third insulating assembly 137 are sequentially disposed from the side closer to the end tool 120, the scope of the present invention is limited thereto. It will be said that the configuration and arrangement of each insulation assembly can be variously modified according to need.

Hereinafter, the first insulation assembly 135 will be described in more detail.

Here, Article 2 R wire (130J2R) represents the right wire among both strands of Article 2 wire (130J2), Article 2 R wire (130J2R) is again divided into two, entering the first insulation assembly 135 Article 2 is divided into R wire-in (130J2Rin) and Article 2 R wire-out (130J2Rout) from the first insulating assembly 135.

On the other hand, Article 1 L wire (130J1L) represents the left wire among both strands of Article 1 wire (130J1), Article 1 L wire (130J1L) is again divided into two, entering the first insulation assembly (135) Article 1 L wire-in (130J1Lin) and Article 1 L wire-out (130J1Lout) coming out of the first insulating assembly 135 is divided.

The first insulation assembly 135 is related to the insulation of the Article 2 R wire, the Article 2 R wire in pulley (1352Rin), the Article 2 R wire out pulley (1352Rout), the Article 2 R wire insulation pulley (1352Ris) includes Here, Article 2 R wire-in pulley (1352Rin) Article 2 R wire-in (130J2Rin) is coupled, Article 2 R wire-out pulley (1352Rout) Article 2 R wire-out (130J2Rout) is coupled do. And, between Article 2 R wire-in pulley (1352Rin) and Article 2 R wire-out pulley (1352Rout), Article 2 R-wire insulation pulley (1352Ris) is interposed, Article 2 R wire-in pulley (1352Rin) and Article 2 2 R wire-out pulley (1352Rout) is insulated, and thus Article 2 R wire-in (130J2Rin) and Article 2 R wire-out (130J2Rout) are also insulated from each other.

At this time, Article 2 R wire-in pulley (1352Rin) and Article 2 R wire insulation pulley (1352Ris) is formed on either side of the groove is formed and the other side is formed with a protrusion to combine with each other. And, Article 2 R wire-out pulley (1352Rout) and Article 2 R wire insulation pulley (1352Ris) is formed on either side of the groove is formed and the other side is formed with a protrusion coupled to each other. At this time, Article 2 R wire-in pulley (1352Rin) side projection (or groove) and Article 2 R wire-out pulley (1352Rout) side projection (or groove) is formed to be isolated from each other, Article 2 R wire-in (130J2Rin) and Article 2 R wire-out (130J2Rout) to be insulated from each other.

That is, through the above configuration, Article 2 R wire-in (130J2Rin), Article 2 R wire-in pulley (1352Rin), Article 2 R wire-out (130J2Rout) and Article 2 R wire-out pulley (1352Rout) ) is formed of a conductor such as metal, by forming Article 2 R wire insulation pulley 1352Ris as a non-conductor so that Article 2 R wire-in (130J2Rin) and Article 2 R wire-out (130J2Rout) are insulated from each other can

By this configuration, Article 2 R wire-in (130J2Rin) entering the first insulation assembly 135 and Article 2 R wire-out (130J2Rout) coming out of the first insulation assembly 135 are electrically connected to each other It is insulated, and power transmission between the operation of the manipulator and the operation of the end tool can be made possible as if connected by a single unbroken wire.

On the other hand, the first insulation assembly 135, Article 1 L wire-in pulley (1351Lin), Article 1 L wire-out pulley (1351Lout), Article 1 L wire insulation pulley related to the insulation of Article 1 L wire ( 1351 Lis). Since this configuration is in principle the same as the components related to the insulation of the above-mentioned Article 1 R wire, a detailed description thereof will be omitted.

In addition, the first insulating assembly 135 includes: Article 1 R wire intermediary pulley (1351Rme), Article 2 L wire intermediary pulley (1352Lme), at least one pitch wire intermediary pulley (135Pme), at least one non-conductive insulating auxiliary pulley (135IsAs). Here, Article 2 R wire intermediary pulley (1352Rme), Article 2 L wire intermediary pulley (1352Lme), pitch wire intermediary pulley (135Pme) and other pitch wire intermediary pulleys (not shown) Inside each of the insulation auxiliary pulleys (135IsAs) ) is inserted, Article 1 R wire intermediary pulley (1351Rme) is passed while Article 1 R wire (not shown) is wound, Article 2 L wire intermediary pulley (1352Lme) is Article 2 L wire (not shown) ) passes while being wound, and the two pitch wire intermediary pulleys (135Pme) pass while both strands of the pitch wire (not shown) are wound.

With this configuration, the wire connected from the end tool 120 to the first insulation assembly 135 and each pulley of the first insulation assembly 135 on which the wire is wound are the pulleys of the first insulation assembly 135 . It can be separated by being electrically insulated from their rotation shaft and wire.

More specifically, when the wire and the pulley of the first insulation assembly are made of metal, the pulleys disposed between the metal pulleys are made of an electrically insulating material to electrically separate the end tool and the manipulation unit as described above, and the wire In the case of metal, the elements constituting the first insulating assembly may be made of an electrically insulating material to electrically separate the end tool from the manipulation unit as described above.

With the same structure as the first insulation assembly 135, in the second insulation assembly 136, each of the Article 1 R wire and the Article 2 L wire is separated and insulated, and in the third insulation assembly 137, the amount of the pitch wire Separate and insulate each strand.

By such a configuration, each wire connecting the end tool and the manipulation unit is completely insulated, and thus, the end tool and the manipulation unit are electrically insulated and separated so that the manipulation unit can be electrically more safely configured. The above-described insulation assembly is characterized in that the end tool and the operation portion are electrically insulated by electrically disconnecting a middle point of the wire connected from the end tool to the operation unit. In the above description, a case has been described in which the pulley of the wire and insulation assembly is made of metal, but if the pulleys (Article 1 L wire-in pulley (1351Lin), Article 1 L wire-out pulley (1351Lout), etc.) are non-conductive conductors Article 1 L wire in pulley (1351Lin), Article 1 L wire out pulley (1351Lout), Article 1 L wire insulation pulley (1351Lis) are not separated from each other and can be composed of a single non-conductive pulley. There will be. A description of such a modified example can be sufficiently inferred from the present description, and a description thereof will be omitted.

<Second embodiment of surgical instrument>

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

Figure 32 is a perspective view showing a surgical instrument according to a second embodiment of the present invention, Figure 33 is an internal perspective view of the surgical instrument of Figure 32, Figure 34 is a side view of the surgical instrument of Figure 33. And, FIGS. 35 and 36 are perspective views showing the operation unit of the surgical instrument of FIG. 33 .

32 to 40, the manipulation unit 210 of the surgical instrument 200 according to the second embodiment of the present invention includes a pitch manipulation unit 211 for controlling the pitch movement of the end tool 220, and the end tool A yaw operation unit 212 for controlling the yaw motion of 220, an actuation operator 213 for controlling the actuation motion of the end tool 220, and a product that the user can hold 1 includes a handle 214 .

First, if the state of use of the surgical instrument 200 of FIG. 32 is exemplified, the user moves the first handle 214 to the Y-axis (that is, the pitch rotation axis 2111) while holding the first handle 214 with the palm of the hand. ) to perform a pitch motion, rotate the first handle 214 about the Z-axis (ie, yaw rotation axis 2121) to perform a yaw motion, and use the thumb and index finger to the actuation control unit In the state inserted into the 213, the actuation operation unit 213 may be rotated to perform an actuation movement.

Here, the surgical instrument 200 according to the second embodiment of the present invention has the surgical instrument 100 according to the first embodiment of the present invention, the end tool 120 and the manipulation unit 110 are intuitively the same It has the same characteristic of rotating in the same direction.

To this end, the manipulation unit 210, like the end tool 220, the actuation operation, the yaw operation, the part that is actually moved for the pitch operation is formed to extend in the +X-axis direction than the rotation center of the corresponding joint of each operation. characterized.

In detail, the first handle 214 may be gripped by the user's hand, and in particular, the user may wrap the first handle 214 with his/her palm so that it can be gripped. Then, the actuation operation unit 213 and the yaw operation unit 212 are formed on the first handle 214 , and a pitch operation unit 211 is formed on one side of the yaw operation unit 212 . In addition, the other end of the pitch manipulator 211 is connected to the bent part 241 of the connection part 240 .

The actuation manipulation unit 213 includes a first actuation manipulation unit 213a and a second actuation manipulation unit 213b. The first actuation manipulation unit 213a includes a first actuation rotating shaft 2131a, a first actuation rotating unit 2132a, and a first actuation gear 2134a. The second actuation manipulation unit 213b includes a second actuation rotating shaft 2131b, a second actuation rotating unit 2132b, and a second actuation gear 2134b. Here, the first actuation rotating unit (2132a) and the second actuation rotating unit (2132b) may operate as a second handle.

Here, the actuation rotation shafts 2131a and 2131b may be formed to form a predetermined angle with the XY plane on which the connection part 240 is formed. For example, the actuation axis of rotation (2131a, 2131b) may be formed in a direction parallel to the Z axis, in this state, when the pitch manipulation unit 211 or the yaw manipulation unit 212 rotates, the actuation manipulation unit 213 ) can be relatively variable. Of course, the spirit of the present invention is not limited thereto, and by an ergonomic design, the actuation axis of rotation (2131a) (2131b) is formed in various directions to suit the structure of the user's hand holding the actuation manipulation unit 213 it could be

On the other hand, the first actuation rotating portion (2132a) and the first actuation gear (2134a) may be fixedly coupled to each other, and formed to be rotatable together about the first actuation rotating shaft (2131a).

Similarly, the second actuation rotating part (2132b) and the second actuation gear (2134b) may be fixedly coupled to each other, and may be formed to be rotatable together around the second actuation rotating shaft (2131b).

Here, the first actuation gear (2134a) and the second actuation gear (2134b) are formed to mesh with each other, and when either side rotates, it may be formed to rotate together in opposite directions.

The yaw operation unit 212 may include a yaw rotation shaft 2121, Article 1 yaw pulley (212P1), Article 2 yaw pulley (212P2), and a yaw frame (yaw frame) (2123). Here, in the drawings, the yaw manipulation unit 212 is illustrated as having two pulleys of Article 1 yaw pulley (212P1) and Article 2 yaw pulley (212P2), but the spirit of the present invention is not limited thereto. That is, one or more pulleys having the same or different diameters may be provided according to the configuration of the yaw manipulation unit 212 .

In detail, a yaw rotation shaft 2121 is formed on one side of the actuation manipulation unit 213 on the first handle 214 . In this case, the first handle 214 is formed to be rotatable about the yaw rotation shaft 2121 .

* Here, the yaw rotation shaft 2121 may be formed to form a predetermined angle with the XY plane on which the connection part 240 is formed. For example, the yaw axis of rotation 2121 may be formed in a direction parallel to the Z axis, and when the pitch manipulation unit 211 rotates in this state, the coordinate system of the yaw axis of rotation 2121 may be relatively changed as described above. can Of course, the spirit of the present invention is not limited thereto, and by an ergonomic design, the yaw rotation shaft 2121 may be formed in various directions to suit the structure of the user's hand holding the manipulation unit 210 .

On the other hand, Article 1 yaw pulley (212P1) and Article 2 yaw pulley (212P2) is coupled to the yaw rotation shaft 2121 so as to be rotatable around the yaw rotation shaft 2121. And, Article 1 yaw pulley (212P1) Article 1 wire (230J1) is wound, Article 2 yaw pulley (212P2) Article 2 wire (230J2) can be wound.

The yaw frame 2123 connects the first handle 214, the yaw rotation shaft 2121, the first actuation rotation shaft 2131a, and the second actuation rotation shaft 2131b, the first handle 214 and the yaw control unit ( 212) and the actuation operation unit 213 to be able to rotate integrally around the yaw rotation shaft 2121.

Meanwhile, the yaw manipulation unit 212 may further include a first yaw gear 2124a and a second yaw gear 2124b that are rotatable independently of each other about the yaw rotation shaft 2121 . At this time, the first yaw gear (2124a) is fixedly coupled with the Article 1 yaw pulley (212P1) and can rotate with the Article 1 yaw pulley (212P1), and the second yaw gear (2124b) is the Article 2 yaw pulley ( 212P2) and can be fixedly coupled with the Article 2 yaw pulley (212P2) to rotate.

Here, the first actuation gear (2134a) and the second actuation gear (2134b) are formed to mesh with each other, and are formed to rotate together in opposite directions when either side rotates. On the other hand, the first actuation gear (2134a) and the first yaw gear (2124a) is formed to be engaged with each other, is formed to rotate together in opposite directions when either side rotates. On the other hand, the second actuation gear (2134b) and the second yaw gear (2124b) are formed to mesh with each other, and when either side rotates, it is formed to rotate together in opposite directions.

At this time, the example described in FIG. 21 (a) is a picture of the actuation and yaw operation of Article 1 121, and the handle is located on the upper side of the drawing in the operation unit 110, but the first embodiment of the present invention The manipulation unit 210 of the surgical instrument 200 according to the second embodiment has a first actuation manipulation unit 213a located on the lower side in the drawing as shown in FIG. 31 for the operation of the first set 221 wire ( 230J1) becomes a handle for movement. This is because the first yaw gear 2124a and the first actuation gear 2134a are meshed with each other, and in FIG. 31, the first actuation rotating part 2132a must be rotated clockwise for one actuation operation, In 21(a), the upper handle in the drawing is rotated counterclockwise. However, both are for the operation of closing the two sets (221, 222) of the end tool 220, and can be said to be the same operation. The surgical instrument 200 according to the second embodiment may be substantially the same as the example described with reference to FIG. 21 ( a ).

The pitch manipulation unit 211 may include a pitch rotation shaft 2111 , a pitch pulley 211P, a pitch auxiliary pulley 211S, and a pitch frame 2113 . The pitch manipulator 211 is connected to the bent part 241 of the connection part 240 through a pitch rotation shaft 2111 .

In detail, the pitch frame 2113 becomes the base frame of the pitch manipulation unit 211, and the yaw rotation shaft 2121 is rotatably coupled to one end thereof. That is, the yaw frame 2123 is formed to be rotatable about the yaw rotation axis 2121 with respect to the pitch frame 2113 .

As described above, the yaw frame 2123 connects the first handle 214, the yaw rotation shaft 2121, the first actuation rotation shaft 2131a, and the second actuation rotation shaft 2131b, and also the yaw frame 2123 ) is connected to the pitch frame 2113, when the pitch frame 2113 rotates about the pitch rotation axis 2111, the yaw frame 2123 connected to the pitch frame 2113, the first handle 214, the yaw rotation axis (2121), the first actuation rotation shaft (2131a), the second actuation rotation shaft (2131b) is rotated together. That is, when the pitch manipulation unit 211 rotates around the pitch rotation shaft 2111 , the actuation manipulation unit 213 and the yaw manipulation unit 212 rotate together with the pitch manipulation unit 211 . In other words, when the user rotates the pitch of the first handle 214 about the pitch rotation shaft 2111, the actuation operation unit 213, the yaw operation unit 212 and the pitch operation unit 211 move together.

A pitch rotation shaft 2111 and a pitch pulley 211P are coupled to the pitch frame 2113 . At this time, the pitch pulley 211P is coupled to the pitch rotation shaft 2111 so as to be rotatable about the pitch rotation shaft 2111 . A pitch auxiliary pulley 211S is formed on one side of the pitch pulley 211P.

The first handle 214 and the pitch manipulation unit 211, the yaw manipulation unit 212, the actuation manipulation unit 213, respectively, the connection relationship is summarized as follows. Actuation rotation shafts 2131a and 2131b, the yaw rotation shaft 2121 and the pitch rotation shaft 2111 may be formed on the first handle 214 . In this case, since the actuation rotation shafts 2131a and 2131b are formed directly on the first handle 214 , the first handle 214 and the actuation manipulation unit 213 may be directly connected to each other. Meanwhile, since the yaw rotation shaft 2121 is formed directly on the first handle 214 , the first handle 214 and the yaw manipulation unit 212 may be directly connected to each other. On the other hand, since the pitch manipulation unit 211 is formed to be connected to the yaw manipulation unit 212 on one side of the yaw manipulation unit 212 , the pitch manipulation unit 211 is not directly connected to the first handle 214 , but the pitch manipulation unit The 211 and the first handle 214 may be formed to be indirectly connected through the yaw manipulation unit 212 .

Hereinafter, the components for transferring the operation of the manipulation unit 210 to the end tool 220 will be described in more detail.

Article 1 wire (230J1) for controlling the operation of Article 1 221 of the end tool 220 is fixedly coupled to a point of Article 1 yaw pulley (212P1) of the manipulation unit 210 and Article 1 yaw pulley (212P1) is wound. Similarly, Article 2 wire (230J2) for controlling the operation of Article 2 222 of the end tool 220 is fixedly coupled to a point of Article 2 yaw pulley (212P2) of the manipulation unit 210 and Article 2 It is wound around the yaw pulley (212P2).

As described in FIG. 21, through the rotation of the Article 1 yaw pulley (212P1) and Article 2 yaw pulley (212P2), the yaw operation and the actuation operation of the end tool 220 are controlled. That is, Article 1 yaw pulley (212P1) and Article 2 yaw pulley (212P2) rotate in the same direction, resulting in Article 1 221 and Article 2 222 yaw in the same direction, As a result, the first article 221 and the second article 222 are actuated to rotate in different directions.

For this, a structure is required so that Article 1 yaw pulley (212P1) and Article 2 yaw pulley (212P2) rotate in the same direction or in different directions according to the user's yaw operation and actuation operation .

To this end, Article 1 yaw pulley (212P1) and Article 2 yaw pulley (212P2) are configured to rotate around the same yaw rotation shaft 2121, and Article 1 yaw pulley (212P1) by one or more gears and Article 2 yaw pulley (212P2) to be connected to each other.

In detail, the first yaw gear (2124a) that is fixedly coupled with the Article 1 yaw pulley (212P1) and can rotate together around the yaw rotation shaft (2121) is connected to mesh with the first actuation gear (2134a), at this time The first actuation gear 2134a may be fixedly coupled to the first actuation manipulation unit 213a to rotate together around the first actuation rotation shaft 2131a. The first actuation gear (2134a) is connected to mesh with the second actuation gear (2134b), in this case, the second actuation gear (2134b) is fixedly coupled to the second actuation operation unit (213b) and the second actuation It may rotate together around the rotation shaft 2131b. The second actuation gear (2134b) is connected to each other meshing with the second yaw gear (2124b), at this time, the second yaw gear (2124b) is fixedly coupled with the Article 2 yaw pulley (212P2) to center the yaw rotation shaft (2121) can be rotated together.

Through this configuration, the actuation operation of rotating the first actuation manipulation unit (213a) and the second actuation manipulation unit (213b) in opposite directions is consequently Article 1 yaw pulley (212P1) and Article 2 yaw pulley ( By rotating the 212P2 in opposite directions, the first jaw 221 and the second jaw 222 of the end tool 220 are rotated in opposite directions.

The first handle 214 is directly coupled to the yaw frame 2123 , and the first actuation manipulation unit 213a and the second actuation manipulation unit 213b are also connected to the yaw frame 2123 . That is, when the yaw rotation of the first handle 214 about the yaw rotation shaft 2121, the yaw frame 2123, the first actuation manipulation unit 213a, the second actuation manipulation unit 213b, the first actuation The gear (2134a), the second actuation gear (2134b) rotate together about the yaw rotation shaft (2121), and as a result, the first yaw gear (2124a), the second yaw gear (2124b), Article 1 yaw pulley (212P1), Article 2 Rotate the yaw pulley (212P2) in the same direction around the yaw axis of rotation (2121). Through this, the first set 221 and the second set 222 of the end tool 220 are yaw-rotated in the same direction.

That is, through the configuration of one or more gears, the first actuation manipulation unit (213a) and the second actuation manipulation unit (213b) rotate in opposite directions by the same amount of rotation as each other, and as a result, Article 1 yaw pulley (212P1) ) and Article 2 yaw pulley (212P2) can be rotated in opposite directions. In addition, Article 1 yaw pulley (212P1) and Article 2 yaw pulley (212P2) can be rotated in the same direction by the yaw rotation of the operation unit 210 as well.

In this way, by both actuation operation and yaw operation, Article 1 yaw pulley (212P1) and Article 2 yaw pulley (212P2) can be rotated, and in particular, Article 1 yaw pulley ( 212P1) and Article 2 The structure that allows the pulley (212P2) to rotate in different ways is possible in various ways, such as a link structure, in addition to the method using a gear.

The actuation operation, the yaw operation, and the pitch operation in this embodiment will be described as follows.

First, the actuation operation is as follows.

Since the first actuation gear (2134a) and the second actuation gear (2134b) rotating together with the first actuation manipulation unit (213a) to rotate together are formed to mesh with each other, When either one of the first actuation manipulation unit 213a or the second actuation manipulation unit 213b rotates, the other one also rotates.

When the first actuation operation unit (213a) and the first actuation gear (2134a) rotate in a clockwise direction, the first yaw gear (2124a) formed to engage with the first actuation gear (2134a) rotates counterclockwise will do In addition, when the first actuation manipulation unit 213a and the first actuation gear 2134a rotate clockwise, the second actuation gear 2134b formed to mesh with the first actuation gear 2134a is counterclockwise direction, and the second yaw gear 2124b formed to mesh with the second actuation gear 2134b is rotated clockwise.

As a result, Article 1 yaw pulley (212P1) connected to the first yaw gear (2124a) and Article 2 yaw pulley (212P2) connected to the second yaw gear (2124b) rotate in opposite directions to each other, and thus Article 1 Article 221 connected to the pulley 212P1 and Article 2 Article 221 connected to the yaw pulley (212P2) are rotated in opposite directions, so that the actuation movement is performed.

Next, the yo operation is as follows.

On the other hand, when the first handle 214 is rotated in one direction about the yaw rotation shaft 2121 for the yaw operation, the actuation manipulation unit 213 formed at one end of the first handle 214 is also the first handle 214 and Together with the yaw axis of rotation 2121 is rotated.

At this time, since the entire actuation operation unit 213 rotates around the yaw rotation shaft 2121, the first actuation gear 2134a and the second actuation gear 2134b do not rotate with respect to each other, and thus the first actuator The first yaw gear 2124a and the second yaw gear 2124b meshed with the actuation gear 2134a and the second actuation gear 2134b, respectively, also do not rotate with respect to each other.

That is, the first handle 214, the actuation operation unit 213, the first actuation gear (2134a), the second actuation gear (2134b), the first yaw gear (2124a) and the second yaw gear (2124b) It will rotate around the yaw rotation shaft 2121 at the same time as one rigid body. Therefore, Article 1 yaw pulley (212P1) connected to the first yaw gear (2124a) and Article 2 yaw pulley (212P2) connected to the second yaw gear (2124b) rotate together in one direction, and thus Article 1 ( 221) and Article 2 (222) is to perform a yaw operation to rotate in the same direction.

Next, the pitch operation is as follows.

When the user rotates the first handle 214 about the pitch rotation shaft 2111 while holding the first handle 214, the actuation operation unit 213, the yaw operation unit 212 and the pitch operation unit 211 are The pitch rotation is performed around the pitch rotation shaft 2111 . That is, when the Article 1 yaw pulley (212P1) of the yaw operation unit 212 to which the Article 1 wire (230J1) is fixedly coupled is rotated around the pitch rotation shaft 2111, the first article wound on the pitch pulley 211P One set of wires 230J1 is moved. Similarly, when the Article 2 yaw pulley (212P2) of the yaw operation unit 212 to which the Article 2 wire (230J2) is fixedly coupled is rotated around the pitch rotation shaft 2111, the article wound on the pitch pulley 211P Two sets of wires 230J2 are moved. And, this rotational force is transmitted to the end tool 220 through the power transmission unit 230, the two jaws (jaw) (221, 222) of the end tool 220 performs a pitch operation.

At this time, the pitch frame 2113 is connected to the yaw frame 2123, and the yaw frame 2123 is a first handle 214, a yaw rotation shaft 2121, a first actuation rotation shaft 2131a, a second actuation rotation shaft ( 2131b), when the pitch frame 2113 rotates about the pitch rotation axis 2111, the yaw frame 2123 connected to the pitch frame 2113, the first handle 214, the yaw rotation shaft 2121, the second The first actuation axis of rotation (2131a) and the second actuation axis of rotation (2131b) rotate together. That is, when the pitch manipulation unit 211 rotates around the pitch rotation shaft 21111 , the actuation manipulation unit 213 and the yaw manipulation unit 212 rotate together with the pitch manipulation unit 211 .

In summary, in the surgical instrument 200 according to an embodiment of the present invention, a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), and a wire (Article 1 wire or second article) is formed in this pulley. wire) is wound, and the rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes movement of each wire, and consequently induces the desired operation of the end tool 220 . Furthermore, auxiliary pulleys may be formed on one side of each pulley, and the wire may not be wound several times on one pulley by these auxiliary pulleys.

<Third embodiment of surgical instrument>

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

41 is a perspective view showing a surgical instrument according to a third embodiment of the present invention, FIG. 42 is a plan view of the surgical instrument of FIG. 41, and FIG. 43 is a perspective view showing the operation unit of the surgical instrument of FIG. 42 .

41, 42 and 43, the surgical instrument 300 according to the third embodiment of the present invention is a first yaw gear, a second yaw gear, a first actuation gear and a second of the second embodiment Although the actuation control unit and the yaw control unit composed of an actuation gear and the like are different, the resulting operation mechanism is the same.

The actuation manipulation unit 313 includes a first actuation manipulation unit 313a and a second actuation manipulation unit 313b. The first actuation manipulation unit 313a includes a first actuation rotation unit 3132a and a first actuation gear 3134a. The second actuation manipulation unit 313b includes a second actuation rotation unit 3132b and a second actuation gear 3134b. Here, the first actuation rotating unit (3132a) and the second actuation rotating unit (3132b) may operate as a second handle. In addition, the actuation operation unit 313 further includes a third actuation gear (3134c).

On the other hand, the first actuation rotating portion (3132a) and the first actuation gear (3134a) is fixed to each other, it may be formed to be rotatable together around the yaw rotation shaft 3121. Similarly, the second actuation rotating part 3132b and the second actuation gear 3134b may be fixedly coupled to each other, and may be formed to be rotatable together about the yaw rotating shaft 3121 .

Here, the first actuation gear (3134a) and the second actuation gear (3134b) are formed to be engaged with each other by the third actuation gear (3134c), when either side rotates, it is formed to rotate together in the opposite direction. can be

The yaw manipulation unit 312 may include a yaw rotation shaft 3121, Article 1 yaw pulley (312P1), and Article 2 yaw pulley (312P2). Article 1 yaw pulley (312P1) and Article 2 yaw pulley (312P2) are connected to the yaw rotation shaft 3121 so as to be rotatable about the yaw rotation shaft 3121. Article 1 yaw pulley (312P1) is fixedly coupled with the first actuation gear (3134a) and can rotate together, Article 2 yaw pulley (312P2) is fixedly coupled with the second actuation gear (3134b) and rotates together can do. And, Article 1 yaw pulley (312P1) Article 1 wire (330J1) is wound, Article 2 yaw pulley (312P2) Article 2 wire (330J2) can be wound. At this time, Article 1 yaw pulley (312P1) and Article 2 yaw pulley (312P2) may be formed to face each other, respectively, and may consist of two pulleys rotatable independently. The rotation shaft of the third actuation gear 3134c is connected to the first handle 314, and when the first handle 314 rotates, the third actuation gear 3134c may also rotate together.

The actuation operation and the yaw operation in this embodiment will be described as follows.

First, an actuation operation will be described. 46 and 47 are diagrams illustrating an actuation operation of the surgical instrument of FIG. 41 .

46 and 47 , the first actuation gear 3134a rotates together with the first actuation rotating part 3132a and the second actuation gear 3134b rotates together with the second actuation rotating part 3132b. Since the third actuation gear (3134c) is formed to mesh with each other, when either one of the first actuation rotating part (3132a) or the second actuation rotating part (3132b) rotates, the other is also rotated together. . When the first actuation rotating part 3132a and the first actuation gear 3134a rotate in the direction of the arrow A1 about the yaw rotation shaft 3121, the first actuation gear 3134a and the third actuation gear formed to engage ( 3134c) rotates, and when the third actuation gear 3134c rotates, the second actuation gear 3134b formed to mesh with the third actuation gear 3134c is rotated in the direction of A2 around the yaw axis of rotation 3121 will rotate

As a result, Article 1 yaw pulley (312P1) connected to the first actuation gear (3134a) and Article 2 yaw pulley (312P2) connected to the second actuation gear (3134b) rotate in opposite directions to each other, Therefore, Article 1 (312P1) connected to the pulley (312P1) Article 1 (321) and Article 2 (312P2) connected to the Article 2 yaw pulley (312P2) is rotated in the opposite direction, the actuation movement is performed.

Next, a yaw operation will be described. 44 and 45 are views showing the yaw operation of the surgical instrument of FIG. 41 .

44 and 45, when the first handle 314 is rotated about the yaw rotation shaft 3121, the third actuation gear central shaft 3134c1 connected to the first handle 314 is the yaw rotation shaft 3121 ) rotates around, and the third actuation gear 3134c formed on the third actuation gear central shaft 3134c1 revolves around the yaw rotation shaft 3121 . Accordingly, the first actuation gear 3134a and the second actuation gear 3134b connected to the third actuation gear 3134c rotate in the arrow Y direction at the same time.

Then, Article 1 yaw pulley (312P1) connected to the first actuation gear (3134a) and Article 2 yaw pulley (312P2) connected to the second actuation gear (3134b) rotate in the same direction as each other, thus Article 1 Article 321 connected to the yaw pulley (312P1) and Article 2 Article 322 connected to the yaw pulley (312P2) rotate in the same direction, so that the yaw motion is performed.

Since the configuration and operation specification of other parts are the same as those of the second embodiment, a detailed description thereof will be omitted.

<Fourth embodiment of surgical instrument>

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 is compared to the surgical instrument according to the third embodiment of the present invention (see 300 in FIG. 41 ) described above, the operation unit of the surgical instrument 400 . The configuration of (410) is characteristically different. As described above, a configuration different from that of the third embodiment will be described in detail.

Figure 48 is a perspective view showing the yaw operation of the surgical instrument according to the fourth embodiment of the present invention, Figure 49 is a view showing the actuation operation of the surgical instrument according to the fourth embodiment of the present invention.

The surgical instrument 400 according to the fourth embodiment of the present invention has a first actuation gear (4124a), a second actuation gear (4124b) and a third actuation gear (4134), etc. compared to the third embodiment. The configured actuation manipulation unit 413 and the yaw manipulation unit 412 are different. In the third embodiment, the first actuation rotating part 3132a is fixedly coupled to the first actuation gear 3134a, and the second actuation rotating part 3132b is fixedly coupled to the second actuation gear 3134b. On the other hand, in the fourth embodiment, the difference is that the first actuation rotating part 4132 is fixedly coupled to the third actuation gear 4134 . In addition, the fourth embodiment has a difference in that the actuation operation is performed only by the rotation of the first actuation rotating unit 4132 . For convenience of explanation, the first actuation gear, the second actuation gear, the third actuation gear, and the first actuation rotating part of the third embodiment in the fourth embodiment, respectively, the first yaw gear, the second yaw gear, Actuation gear and actuation rotation part.

The actuation operation and the yaw operation in this embodiment will be described as follows.

First, an actuation operation will be described. Figure 49 is a view showing the actuation operation of the surgical instrument of Figure 48.

When the actuation rotation unit 4132 and the actuation gear 4134 connected thereto rotate in the direction of arrow A in FIG. 49, the first yaw gear 4124a and the second yaw gear (4124a) and the second yaw gear ( 4124b) rotates in opposite directions about the yaw rotation shaft 4121.

As a result, Article 1 yaw pulley (412P1) fixedly coupled to the first yaw gear (4124a), and Article 2 yaw pulley (412P2) fixedly coupled to the second yaw gear (4124b) rotate in opposite directions to each other Accordingly, Article 1 (421) connected to the pulley (412P1) and Article 2 (421) connected to the yaw pulley (412P2) are rotated in opposite directions, the actuation movement is performed will be.

Next, a yaw operation will be described.

When the first handle 414 is rotated about the yaw rotation shaft 4121, the actuation gear central shaft 4134A connected to the first handle 414 rotates about the yaw rotation shaft 4121, and the actuation gear center The actuation gear 4134 formed on the shaft 4134A revolves around the yaw rotation shaft 4121 . Accordingly, the first yaw gear 4124a and the second yaw gear 4124b connected to the actuation gear 4134 rotate in the same direction at the same time in the direction of the arrow Y.

Then, Article 1 yaw pulley (412P1) fixedly coupled to the first yaw gear (4124a), and Article 2 yaw pulley (412P2) fixedly coupled to the second gear (335G2) rotate in the same direction as each other, Therefore, Article 1 yaw pulley (412P1) and Article 1 (421) and Article 2 (412P2) connected to the yaw pulley (412P2) are rotated in the same direction, so that the yaw motion is performed.

Since the configuration and operating characteristics of other parts are the same as those of the third embodiment, a detailed description thereof will be omitted.

<Fifth embodiment of surgical instrument>

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 is compared to the surgical instrument (see 200 in FIG. 32 ) according to the second embodiment of the present invention described above. The configuration of 510 is characteristically different. As described above, a configuration different from that of the second embodiment will be described in detail.

On the other hand, the surgical instrument 500 according to the fifth embodiment of the present invention is an embodiment in which the modified example shown in FIG. 24 is specifically implemented. That is, Article 1 yaw auxiliary pulley (112S1) of Figure 24 (a) corresponds to Article 1 yo auxiliary pulley (512S1) of Figure 53, and Article 1 yo pulley (112P1) of Figure 24 (a) is shown in Fig. Article 1 of 53 corresponds to the pulley (512P1), the first actuation pulley (113P1) of Figure 24 (a) corresponds to the first actuation pulley (not shown) of Figure 53.

Figure 50 is a perspective view showing a surgical instrument according to a fifth embodiment of the present invention, Figure 51 is a plan view of the surgical instrument of Figure 50, Figure 52 is a perspective view showing the operation unit of the surgical instrument of Figure 51.

The actuation manipulation unit 513 includes an actuation rotating shaft 5131 , a first actuation manipulation unit 513a and a second actuation manipulation unit 513b. The first actuation manipulation unit 513a includes a first actuation rotating shaft 5131a, a first actuation rotating unit 5132a, and a first actuation gear 5134a. The second actuation manipulation unit 513b includes a second actuation rotating shaft 5131b, a second actuation rotating unit 5132b, and a second actuation gear 5134b. Here, the first actuation rotator 5132a and the second actuation rotator 5132b may operate as a second handle.

At this time, the first actuation rotating part 5132a and the first actuation gear 5134a may be fixedly coupled to each other, and may be formed to be rotatable together about the first actuation rotation shaft 5131a. Similarly, the second actuation rotation unit 5132b and the second actuation gear 5134b may be fixedly coupled to each other, and may be formed to be rotatable together around the second actuation rotation shaft 5131b.

On the other hand, the first actuation gear (5134a) and the second actuation gear (5134b) is formed to mesh with each other, when either side rotates may be formed to rotate together in opposite directions.

The actuation axis of rotation 5131 includes a third actuation gear 5134c and a fourth actuation gear 5134d that are respectively independently rotatable about the actuation axis of rotation 5131 .

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

The first actuation gear (5134a) and the third actuation gear (5134c) are formed to mesh with each other, and when either side rotates, it is formed to rotate together in the opposite direction to each other. On the other hand, the second actuation gear (5134b) and the fourth actuation gear (5134d) are formed to be engaged with each other, is formed to rotate together in opposite directions when either side rotates.

On the other hand, Article 1 yaw pulley (512P1) is formed on one side of the third actuation gear 5134c and the third actuation pulley (not shown), and the third actuation pulley (not shown) and Article 1 yaw The pulley (512P1) is connected through the Article 1 wire (530J1), when the third actuation gear (5134c) rotates, Article 1 yaw pulley (512P1) is formed to rotate together. At this time, Article 1 wire (530J1) is wound to be fixedly coupled to a point of the third actuation pulley (not shown), and is crossed around Article 1 yaw pulley (512P1), Article 1 yaw pulley (512P1) may rotate in the opposite direction to which the third actuation pulley (not shown) rotates.

In addition, Article 2 yaw pulley (512P2) is formed on one side of the fourth actuation gear (5134d) and the fourth actuation pulley (5133d), and the fourth actuation pulley (5133d) and Article 2 yaw pulley ( 512P2) is connected through the Article 2 wire (530J2), when the fourth actuation gear (5134d) rotates, Article 2 yaw pulley (512P2) is formed to rotate together. At this time, Article 2 wire (530J2) is wound to be fixedly coupled to one branch of the fourth actuation pulley (5133d), and is crossed around the Article 2 yaw pulley (512P2), Article 2 yaw pulley (512P2) is The fourth actuation pulley (5133d) may rotate in the opposite direction to the rotation.

At this time, Article 1 yaw pulley (512P1) and Article 2 yaw pulley (512P2) are formed so as to be rotatable independently of each other around the yaw axis of rotation (5121).

The yaw manipulation unit 512 may include a yaw rotation shaft 5121, Article 1 yaw pulley (512P1), and Article 2 yaw pulley (512P2). The pitch manipulation unit 511 may include a pitch rotation shaft 5111 , a pitch pulley 511P, a pitch auxiliary pulley 211S, and a pitch frame 5113 . The pitch manipulation unit 511 is connected to the bent unit 541 of the connection unit 540 through a pitch rotation shaft 5111 .

The actuation operation, the yaw operation, and the pitch operation in this embodiment will be described as follows.

First, the actuation operation is as follows.

50 to 55 , a first actuation gear 5134a rotating together with the first actuation manipulation unit 513a and a second actuation gear 5134b rotating together with the second actuation manipulation unit 513b Since they are formed to engage with each other, when either one of the first actuation manipulation unit 513a or the second actuation manipulation unit 513b rotates, the other side also rotates together.

When the first actuation operation unit (513a) and the first actuation gear (5134a) rotate in the direction of the arrow A1 around the first actuation axis of rotation (5131a), the first actuation gear (5134a) formed to mesh with the first 3 The actuation gear (5134c) is rotated in the opposite direction of A1.

Similarly, the second actuation gear 5134b formed to mesh with the first actuation gear 5134a is rotated in the direction of arrow A2, and the fourth actuation gear 5134d formed to mesh with the second actuation gear 5134b ) will rotate in the opposite direction of A2.

As a result, the third actuation gear (5134c) and the third actuation pulley (not shown) fixedly coupled to the fourth actuation gear (5134d) and the fourth actuation pulley (5133d) fixedly coupled to each other in the opposite direction As a result, the first set 521 connected to the third actuation pulley (not shown) and the second set 522 connected to the fourth actuation pulley (5133d) are rotated in opposite directions, so that the actuation movement is performed.

Here, the present embodiment is characterized in that the yaw rotation shaft 5121 and the actuation rotation shaft 5131 are separately provided. And Article 1 yaw pulley (512P1) and Article 2 yaw pulley (512P2) is formed to be rotatable independently of each other about the yaw axis of rotation (5121).

That is, in the second embodiment, the first yaw gear 2124a, the second yaw gear 2124b, Article 1 yaw pulley (212P1) and Article 2 yaw pulley (212P2) are all formed on the yaw rotation shaft 2121 However, in this embodiment, the third actuation gear (5134c), the fourth actuation gear (5134d) is formed on the actuation rotation shaft (5131), Article 1 yaw pulley (512P1) and Article 2 yaw pulley ( 512P2 is formed on the yaw rotation shaft 5121 .

Therefore, in this embodiment, in order to have the same operating characteristics as the second embodiment, Article 1 wire (530J1) must be crossed once between the third actuation pulley (not shown) and Article 1 yaw pulley (512P1) And Article 2 wire (530J2) must be crossed once between the fourth actuation pulley (5133d) and Article 2 yaw pulley (512P2). In this way, Article 1 wire (530J1) and Article 2 wire (530J2) must be crossed once, the operation of the operation unit 510 and the operation of the end tool 520 are intuitively consistent.

Next, a yaw operation will be described. 54 and 55 are views showing the yaw operation of the surgical instrument of FIG. 50 .

50 to 55, when the first handle 514 is rotated in one direction about the yaw rotation shaft 5121, the actuation operation unit 513 formed at one end of the first handle 514 is also the first handle ( 514) and rotates about the yaw rotation shaft 5121. At this time, since the entire actuation operation unit 513 rotates around the yaw rotation shaft 5121, the first actuation gear 5134a and the second actuation gear 5134b do not rotate with respect to each other, and thus the first actuator The third actuation gear 5134c and the fourth actuation gear 5134d meshed with the actuation gear 5134a and the second actuation gear 5134b, respectively, also do not rotate with respect to each other.

That is, the first handle 514, the actuation operation unit 513, the first actuation gear (5134a), the second actuation gear (5134b), the third actuation gear (5134c), the fourth actuation gear (5134d) ), Article 1 yaw pulley (512P1) and Article 2 yaw pulley (512P2) will rotate around the yaw rotation shaft 5121 at the same time as one rigid body. And, in this way, Article 1 yaw pulley (512P1) and Article 2 yaw pulley (512P2) rotate together in one direction, and Article 1 (521) and Article 2 (522) rotate in the same direction. action is performed.

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

<Sixth embodiment of surgical instrument>

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 is compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2 ), the operation unit of the surgical instrument 600 . The configuration of 610 is characteristically different. As described above, the configuration different from that of the first embodiment will be described in detail later.

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

56 to 60 , the surgical instrument 600 according to the sixth embodiment of the present invention includes a manipulation unit 610 , an end tool 620 , a power transmission unit 630 and a connection unit 640 . ) is included. Here, the connection part 640 is formed in the shape of a hollow shaft, and one or more wires (to be described later) may be accommodated therein. The tool 620 is coupled, and may serve to connect the manipulation unit 610 and the end tool 620 . The connecting part 640 may have a bent part 641 formed on the operation part 610 side.

The manipulation unit 610 of the surgical instrument 600 according to the sixth embodiment of the present invention includes a pitch manipulation unit 611 for controlling the pitch motion of the end tool 620, and a yaw motion of the end tool 620. It includes a yaw operation unit 612 , an actuation operator 613 for controlling an actuation movement of the end tool 620 , and a first handle 614 that can be gripped by a user.

First, if the state of use of the surgical instrument 600 of FIG. 56 is exemplified, the user moves the first handle 614 to the Y axis (that is, the pitch rotation axis 6111) while holding the first handle 614 with the palm of the hand. ) to perform a pitch motion, rotate the first handle 614 about the Z-axis (that is, the yaw rotation axis 6121) to perform a yaw motion, and use the thumb and index finger to the actuation control unit In the state inserted into the 613, the actuation operation unit 613 may be rotated to perform an actuation movement.

Here, the surgical instrument 600 according to the sixth embodiment of the present invention is formed such that the yaw manipulation unit 612 is spaced apart from the first handle 614 to a considerable extent compared to the first embodiment. That is, the actuation manipulation unit 613 and the pitch manipulation unit 611 are formed on the first handle 614 and are formed in a relatively close position to the first handle 614, whereas the yaw manipulation unit 612 is the pitch manipulation unit 611. The pitch rotation shaft 6111 and the I-shaped yaw frame 6123 of Accordingly, the yaw manipulation unit 612 is formed to be spaced apart from the first handle 614 by the length of the yaw frame 6123 in the Z-axis direction. In other words, the yaw rotation shaft 6121 is formed on the upper side in the Z-axis direction rather than the side surface of the actuation operation unit 613, and a plurality of pulleys are disposed between the yaw rotation shaft 6121 and the actuation operation unit 613, the user When the first handle 614 is yaw-rotated, the first handle 614 , the actuation operation unit 613 , and the pitch operation unit 611 can rotate around the yaw rotation shaft 6121 as a whole.

In the case of the first embodiment, the joint configuration of the manipulation unit for operating the operation of the end tool is connected in the order of the pitch joint and the yaw joint. That is, the wire connected for power transmission of the end tool is first connected to the pitch joint part of the manipulation unit through the connecting part and the bending part, and then connected to the yaw joint part.

However, in the case of the sixth embodiment, the joint configuration order of the manipulation unit is different from the first embodiment, and is connected in the order of the yaw joint and the pitch joint. That is, in terms of the connection configuration with the end tool, the yaw operation part is formed first, and then the pitch operation part and the actuation operation part are formed on the yaw operation part is a big difference.

However, the sixth embodiment also has the same characteristics as the first embodiment in which the end tool rotates in the same direction as the operation direction of the operation unit intuitively. That is, as described in FIG. 1, when the user moves the corresponding handle for actuation rotation, pitch rotation, and yaw rotation, the rotation axis of the corresponding manipulation unit for the corresponding rotation is located at the back (user side) like the end tool. is the same In detail, the first handle 614 may be gripped by the user's hand, and in particular, the user may wrap and hold the first handle 614 with his or her palm. And, the actuation manipulation unit 613 is formed on the first handle 614 , and a pitch manipulation unit 611 is formed on one side of the actuation manipulation unit 613 . In addition, the pitch control unit 611 is connected to the yaw control unit 612 through the yaw frame 6123, one side of the yaw frame 6123 is connected to the pitch rotation shaft 6111, the other side is connected to the yaw rotation shaft 6121 .

The actuation manipulation unit 613 includes a first actuation manipulation unit 613a and a second actuation manipulation unit 613b. The first actuation manipulation unit 613a includes a first actuation rotating shaft 6131a, a first actuation rotating unit 6132a, a first actuation pulley 613P1, and a first actuation gear 6134a. The second actuation manipulation unit 613b includes a second actuation rotating shaft 6131b, a second actuation rotating unit 6132b, a second actuation pulley 613P2, and a second actuation gear 6134b. Here, the first actuation rotator 6132a and the second actuation rotator 6132b may operate as a second handle.

On the other hand, the first actuation rotating part (6132a), the first actuation pulley (613P1), the first actuation gear (6134a) are fixedly coupled to each other, and formed to be rotatable together around the first actuation rotating shaft (6131a). can be

Similarly, the second actuation rotating part (6132b), the second actuation pulley (613P2), the second actuation gear (6134b) are fixedly coupled to each other, and formed to be rotatable together around the second actuation rotating shaft (6131b). can be

Here, the first actuation gear (6134a) and the second actuation gear (6134b) are formed to mesh with each other, and when either side rotates, it may be formed to rotate together in opposite directions.

The pitch manipulation unit 611 may include a pitch rotation shaft 6111 , a plurality of pitch pulleys 611P, a plurality of pitch auxiliary pulleys 611S, and a pitch frame 6113 . In addition, the pitch manipulation unit 611 may further include a plurality of pitch wire pitch pulleys (611PP), a pitch wire pitch auxiliary pulley (611PS), a pitch wire pitch return pulley (611PR), and more.

A pitch rotation shaft 6111 and a pitch pulley 611P are coupled to the pitch frame 6113 . At this time, the pitch pulley 611P is connected to the pitch rotation shaft 6111 so as to be rotatable about the pitch rotation shaft 6111 .

The pitch frame 6113 becomes the base frame of the pitch manipulation unit 611, and connects the pitch rotation shaft 6111, the first actuation rotation shaft 6131a, and the second actuation rotation shaft 6131b, and the first handle 614. and the actuation operation unit 613 and the pitch operation unit 611 are rotatable about the pitch rotation shaft 6111 together. That is, when the first handle 614 rotates about the pitch rotation shaft 6111 , the first actuation rotation shaft 6131a connected to the first handle 614 and the second actuation rotation shaft 6131b rotate together. In other words, when the user pitch-rotates the first handle 614 about the pitch rotation shaft 6111 , the actuation manipulation unit 613 moves together with the first handle 614 .

The yaw operation unit 612 may include a yaw rotation shaft 6121, Article 1 yaw pulley (612P1), Article 2 yaw pulley (612P2), and a yaw frame (yaw frame) (6123). In addition, the yaw manipulation unit 612 is Article 1 yaw auxiliary pulley (612S1) formed on one side of the Article 1 yaw pulley (612P1), Article 2 yaw auxiliary pulley formed on one side of the Article 2 yaw pulley (612P2) ( 612S2) may be further included.

In detail, the yaw frame 6123 becomes the base frame of the yaw manipulation unit 612, and may be formed as an I-shaped frame. One side of the yaw frame 6123 is connected to the pitch rotation shaft 6111 , and the other side is connected to the yaw rotation shaft 6121 . In addition, the bent portion 641 of the yaw frame 6123 and the extension portion 640 is formed to be rotatable with respect to each other about the yaw rotation shaft 6121 .

In addition, Article 1 yaw pulley (612P1), Article 1 yaw auxiliary pulley (612S1), Article 2 yaw pulley (612P2), Article 2 yaw auxiliary pulley (612S2) On one side of each, a pitch wire (630P) is wound The first pitch wire yaw pulley (612PP1), the first pitch wire yaw auxiliary pulley (612PS1), the second pitch wire yaw pulley (612PP2), the second pitch wire yaw auxiliary pulley (612PS2) may be further formed.

* Here, in the drawing, Article 1 yaw pulley (612P1) and Article 2 yaw pulley (612P2), Article 1 yaw auxiliary pulley (612S1), Article 2 yaw auxiliary pulley (612S2), Article 2 of the yaw manipulation unit 612 1 pitch wire yaw pulley (612PP1), first pitch wire yaw auxiliary pulley (612PS1), second pitch wire yaw pulley (612PP2), and second pitch wire yaw auxiliary pulley (612PS2) are each shown as having two pulleys However, the spirit of the present invention is not limited thereto. That is, one or more pulleys having the same or different diameters may be provided according to the configuration of the yaw manipulation unit 612 .

In detail, the yaw rotation shaft 6121 is inserted through the bent portion 641, the yaw frame 6123, Article 1 yaw pulley 612P1, Article 2 yaw pulley 612P2. Accordingly, the yaw frame 6123 is formed to be rotatable with respect to the bent portion 641 about the yaw rotation shaft 6121 . The pitch frame 6113 is coupled to the actuation manipulation unit 613 , and the actuation manipulation unit 613 is coupled to the first handle 614 . Therefore, as a result, when the first handle 614 is rotated around the yaw rotation shaft 6121, the first handle 614, the actuation operation unit 613, the pitch frame 6113, and the yaw frame 6123 are bent together. will rotate about (641).

Through this configuration, as shown in FIG. 57, the rotation axis of the yaw joint and the rotation axis of the pitch joint of the manipulation unit can be arranged close, such as intersecting, as a result, the effect that can provide a more natural and intuitive operation feeling in the user's operation there is

On the other hand, Article 1 yaw pulley (612P1) and Article 2 yaw pulley (612P2) are connected to the yaw rotation shaft 6121 to be rotatable about the yaw rotation shaft 6121. And, Article 1 yaw pulley (612P1) Article 1 wire (630J1) is wound, Article 2 yaw pulley (612P2) Article 2 wire (630J2) can be wound. In this case, Article 1 yaw pulley (612P1) and Article 2 yaw pulley (612P2) may be formed to face each other, respectively, and may be composed of two pulleys that are independently rotatable. Accordingly, the wound wire and the wound wire can be wound on separate pulleys, respectively, so that they can operate without interfering with each other.

Similarly, Article 1 yo auxiliary pulley (612S1) and Article 2 yo auxiliary pulley (612S2) may be formed to face each other, respectively, and may consist of two pulleys rotatable independently. Accordingly, the wound wire and the wound wire can be wound on separate pulleys, respectively, so that they can operate without interfering with each other.

The first handle 614 , the pitch manipulation unit 611 , the yaw manipulation unit 612 , and the actuation manipulation unit 613 are summarized in connection with each other as follows. Actuation rotation shafts 6131a and 6131b, a yaw rotation shaft 6121 and a pitch rotation shaft 6111 may be formed on the first handle 614 . In this case, since the actuation rotation shafts 6131a and 6131b are formed directly on the first handle 614 , the first handle 614 and the actuation manipulation unit 613 may be directly connected to each other. Meanwhile, since the pitch rotation shaft 6111 is formed directly on the first handle 614 , the first handle 614 and the pitch manipulation unit 611 may be directly connected to each other. On the other hand, since the yaw control unit 612 is formed to be connected through the pitch control unit 611 and the yaw frame 6123 , the yaw control unit 612 is not directly connected to the first handle 614 , but the yaw control unit 612 . ) may be formed to be indirectly connected to the first handle 614 through the pitch manipulation unit 611 .

The actuation operation, the yaw operation, and the pitch operation in this embodiment will be described as follows.

First, the actuation operation is as follows.

The user inserts the index finger into the first actuation rotating part 6132a and the second actuation rotating part 6132b using either finger or both fingers in a state where the thumb is inserted into the actuation rotating part 6132a (6132b) ) is rotated, the first actuation pulley 613P1 and the first actuation gear 6134a fixedly coupled to the first actuation rotating part 6132a rotate about the first actuation rotating shaft 6131a, 2 The second actuation pulley (6133b) and the second actuation gear (6134b) fixedly coupled to the actuation rotating part (6132b) rotates around the second actuation rotating shaft (6131b). At this time, the first actuation pulley (613P1) and the second actuation pulley (613P2) are rotated in opposite directions to each other, and therefore one end is fixedly coupled to the first actuation pulley (613P1) Article 1 wire (630J1) And the second actuation pulley (613P2) one end is fixedly coupled Article 2 wire (630J2) is also moved in opposite directions to each other. And, this rotational force is transmitted to the end tool 620 through the power transmission unit 630, the two jaws (jaw) (621, 622) of the end tool 620 performs the actuation operation.

Next, the pitch operation is as follows.

57 and 60, when the user rotates the first handle 614 about the pitch rotation shaft 6111 in a state holding the first handle 614, the actuation operation unit 613 is the pitch rotation shaft ( 6111) as the center of the pitch rotation. That is, when the first actuation pulley (613P1) of the first actuation manipulation unit (613a) to which the Article 1 wire (630J1) is fixedly coupled is rotated around the pitch rotation shaft 6111, the pitch pulley (611P) is Both strands (630J1R, 630J1L) of the wound Article 1 wire (630J1) are moved in the same direction. Similarly, when the second actuation pulley (613P2) of the second actuation operation unit (613b) to which the Article 2 wire (630J2) is fixedly coupled is rotated about the pitch rotation shaft 6111, the pitch pulley (611P) is Both strands (630J2R, 630J2L) of the second set of wound wires (630J2) are moved in the same direction. And, this rotational force is transmitted to the end tool 620 through the power transmission unit 630, two jaws (jaw) 621, 622 of the end tool 620 performs a pitch operation.

On the other hand, as shown in FIG. 58, the end tool 620 has a pitch pulley 623P and a pitch wire 630P formed so that the pitch operation of the end tool 620 is more easily performed according to the pitch manipulation of the manipulation unit 610. can

Both strands (630PL) (630PR) of the pitch wire (630P) are wound on each pitch wire pitch return pulley (611PR) through the yaw operation unit (612), the pitch operation unit (611), and again the pitch operation unit (611), the yaw operation unit ( 612) to be fixedly coupled to one point of each bent part.

When the user pitch rotates the first handle 614 about the pitch rotation shaft 6111, the pitch wire pitch return pulley 611PR also rotates about the pitch rotation shaft 611 together. At this time, both strands (630PL) (630PR) of the pitch wire (630P) are formed to be wound in opposite directions to the corresponding pitch wire pitch pulley (611PP) formed to be able to rotate about the pitch rotation axis (611), resulting in Both strands (630PL) (630PR) of the pitch wire (630P) adjacent to the end tool 620 are moved in opposite directions, and the end tool by Article 1 wire (630J1) and Article 2 wire (630J2) Separately from the pitch motion of 620 may transmit additional pitch rotation power.

Next, the yo operation is as follows.

57 and 59, when the user rotates the first handle 614 about the yaw rotation shaft 6121 in a state holding the first handle 614, the actuation operation unit 613, the pitch operation unit ( 611) and the yaw manipulation unit 612 rotates yaw around the yaw rotation shaft 6121. That is, when the first actuation pulley (613P1) of the first actuation manipulation unit (613a) to which the Article 1 wire (630J1) is fixedly coupled is rotated about the yaw rotation shaft 6121, the Article 1 yaw pulley ( Article 1 wire (630J1) wound on 612P1) is moved. Similarly, when the second actuation pulley (613P2) of the second actuation manipulation unit (613b) to which the Article 2 wire (630J2) is fixedly coupled is rotated around the yaw rotation shaft 6121, the Article 2 yaw pulley ( Article 2 wire (630J2) wound on 612P2) is moved. At this time, Article 1 wire (630J1) connected to Article 1 (621) and Article 2 wire (630J2) connected to Article 2 (622) are connected to Article 1 (621) and Article 2 ( 622) may be configured to rotate in the same direction. And, this rotational force is transmitted to the end tool 620 through the power transmission unit 630, the two jaws (jaw) 621, 622 of the end tool 620 performs a yaw operation.

On the other hand, the pitch wire 630P formed to facilitate the pitch operation should not affect the operation of the end tool 620 during the yaw operation of the manipulation unit 610 . That is, both strands 630PL and 630PR of the pitch wire 630P should not move toward the end tool 620 during the yaw operation of the manipulation unit 620 .

Both strands 630PL and 630PR of the pitch wire 630P disclosed in the sixth embodiment are each extended from the end tool 620, and the corresponding pitch wire yaw pulleys 612PP1 and 612PP2 and the corresponding pitch wire yaw auxiliary pulley (612PS1) (612PS2) crosses and winds, passes through the pitch manipulation unit 611 and the actuation manipulation unit 613, and again the corresponding pitch wire yaw auxiliary pulley (612PS1) (612PS2) and the corresponding pitch wire yaw pulley (612PP1) (612PP2) It is wound to cross the , and finally fixedly coupled to a point of the bent portion 641 . At this time, the direction in which each of the pitch wires 630P (630PL) and 630PR are wound around the pitch wire yaw pulleys 612PP1 and 612PP2 are opposite to each other.

Therefore, when the user yaws the first handle 614 about the yaw rotation shaft 6121, the pitch wire 630P wound around the pitch wire yaw pulleys 612PP1 and 612PP2 and formed toward the pitch manipulation unit 611 moves. However, the pitch wire 630P wound on the pitch wire yaw pulley (612PP1) (612PP2) and formed toward the end tool 620 is, that is, the pitch wire yaw pulley (612PP1) (612PP2) from the end tool 620 side. The entering portion and the portion wound from the pitch wire yaw pulleys 612PP1 and 612PP2 to the one fixed point of the bent portion 641 do not move, and consequently do not affect the operation of the end tool 620 .

In summary, in the surgical instrument 600 according to an embodiment of the present invention, a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), and a wire (Article 1 wire or 2 wire) is wound, and the rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes movement of each wire, and as a result, it is characterized in that it induces the desired operation of the end tool 620 . Furthermore, auxiliary pulleys may be formed on one side of each pulley, and the wire may not be wound several times on one pulley by these auxiliary pulleys.

<Seventh embodiment of surgical instrument>

Hereinafter, a surgical instrument 700 according to a seventh embodiment of the present invention will be described. Here, the surgical instrument 700 according to the seventh embodiment of the present invention is compared to the surgical instrument according to the first embodiment of the present invention (refer to 100 in FIG. 2 ) described above. The configuration of 710 is characteristically different. As described above, the configuration different from that of the first embodiment will be described in detail later.

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

61 to 69 , the surgical instrument 700 according to the seventh embodiment of the present invention includes a manipulation unit 710 , an end tool 720 , a power transmission unit 730 and a connection unit 740 . ) is included. Here, the connection part 740 is formed in the shape of a hollow shaft, and one or more wires (to be described later) can be accommodated therein. The tool 720 is coupled, and may serve to connect the manipulation unit 710 and the end tool 720 . The connecting part 740 may have a bent part 741 formed on the operation part 710 side.

The manipulation unit 710 of the surgical instrument 700 according to the seventh embodiment of the present invention includes a pitch manipulation unit 711 for controlling the pitch motion of the end tool 720 and a yaw motion of the end tool 720. It includes a yaw operation unit 712 , an actuation operator 713 for controlling an actuation movement of the end tool 720 , and a first handle 714 that can be gripped by a user.

First, if the state of use of the surgical instrument 700 of FIG. 61 is exemplified, the user moves the first handle 714 to the Y-axis (that is, the pitch rotation axis 7111) while holding the first handle 714 with the palm of the hand. ) to perform a pitch motion, rotate the first handle 714 about the Z-axis (ie, the yaw rotation axis 7121) to perform a yaw motion, and use the thumb and index finger to the actuation control unit The actuation movement can be performed by rotating the actuation manipulation unit 713 in a state inserted into the 713 .

Here, the surgical instrument 700 according to the seventh embodiment of the present invention is formed in an approximately '∩' shape so that the bent portion 741 is branched from the middle to the left and right compared to the first embodiment, and a pitch frame to correspond thereto 7113 is also formed in an approximately '∩' shape so as to be branched left and right, and pitch rotation shafts 7111 are respectively formed at both ends branched to the left and right of the pitch frame 7113, as a result, the pitch rotation shaft 7111 is the yaw rotation shaft ( 7121) and is formed to be spaced apart from each other to a considerable extent. That is, the actuation rotation shafts 7131a and 7131b and the yaw rotation shaft 7121 are formed in or near the first handle 714 and relatively close to the first handle 714, whereas the pitch rotation shaft 7111 is It is formed at both ends branched to the left and right of the pitch frame 7113 . Therefore, the pitch rotation shaft 7111 may be formed to a certain extent lower in the Z-axis direction than the actuation rotation shafts 7131a and 7131b and the yaw rotation shaft 7121, so that a part of the user's hand is a '∩'-shaped pitch frame It can be accommodated in a certain part in (7113).

Through this configuration, as shown in FIG. 64 , the rotation axis of the yaw joint and the rotation axis of the pitch joint of the manipulation unit can be arranged close, such as intersecting, as well as the rotation axis of the yaw joint and the rotation axis of the pitch joint holding the handle and yaw manipulation and pitch manipulation It can be matched with the wrist joint of the user performing the . Accordingly, as a result, there is an effect of providing a more natural and intuitive operation feeling in the operation of the user.

In detail, the first handle 714 may be gripped by a user's hand, and in particular, the user may wrap and hold the first handle 714 with his or her palm. And, the actuation operation unit 713 is formed on the first handle 714, one side of the actuation operation unit 713 is formed with a yaw operation unit 712, one side of the yaw operation unit 712 is a pitch operation unit 711. is formed, and the yaw manipulation unit 712 and the pitch manipulation unit 711 are connected by a pitch frame 7113 of a '∩' shape. In addition, the other end of the pitch manipulator 711 is connected to the bent part 741 of the connection part 740 .

The actuation manipulation unit 713 includes a first actuation manipulation unit 713a and a second actuation manipulation unit 713b. The first actuation manipulation unit 713a includes a first actuation rotating shaft 7131a, a first actuation rotating unit 7132a, a first actuation pulley 713P1, and a first actuation gear 7134a. The second actuation manipulation unit 713b includes a second actuation rotating shaft 7131b, a second actuation rotating unit 7132b, a second actuation pulley 713P2, and a second actuation gear 7134b. Here, the first actuation rotating unit (7132a) and the second actuation rotating unit (7132b) may operate as a second handle.

On the other hand, the first actuation rotating part (7132a), the first actuation pulley (713P1), the first actuation gear (7134a) are fixedly coupled to each other, and formed to be rotatable together around the first actuation rotating shaft (7131a). can be Similarly, the second actuation rotating part (7132b), the second actuation pulley (713P2), the second actuation gear (7134b) are fixedly coupled to each other, and formed to be rotatable together around the second actuation rotating shaft (7131b). can be Here, the first actuation gear (7134a) and the second actuation gear (7134b) is formed to be engaged with each other, when either side rotates may be formed to rotate together in the opposite direction to each other.

The yaw operation unit 712 may include a yaw rotation shaft 7121, Article 1 yaw pulley (712P1), Article 2 yaw pulley (712P2), and a yaw frame (yaw frame) (7123). In addition, the yaw manipulation unit 712 is Article 1 yaw auxiliary pulley (712S1) formed on one side of the Article 1 yaw pulley (712P1), Article 2 yaw auxiliary pulley formed on one side of the Article 2 yaw pulley (712P2) ( 712S2) may be further included. Here, Article 1 yaw pulley (712P1), Article 2 yaw pulley (712P2), Article 1 yaw auxiliary pulley (712S1) and Article 2 yaw auxiliary pulley (712S2) are in the pitch frame 7113 to be described later. can be connected

In detail, a yaw rotation shaft 7121 is formed on one side of the actuation manipulation unit 713 on the first handle 714 . In this case, the first handle 714 is formed to be rotatable about the yaw rotation shaft 7121 . On the other hand, Article 1 yaw pulley (712P1) and Article 2 yaw pulley (712P2) are connected to the yaw rotation shaft 7121 to be rotatable about the yaw rotation shaft 7121. And, Article 1 yaw pulley (712P1) Article 1 wire (730J1) is wound, Article 2 yaw pulley (712P2) Article 2 wire (730J2) can be wound. At this time, Article 1 yaw pulley (712P1) and Article 2 yaw pulley (712P2) may be formed to face each other, respectively, and may consist of two pulleys that can rotate independently. Accordingly, the wound wire and the wound wire can be wound on separate pulleys, respectively, so that they can operate without interfering with each other.

The yaw frame 7123 connects the first handle 714, the yaw rotation shaft 7121, the first actuation rotation shaft 7131a, and the second actuation rotation shaft 7131b, the first handle 714 and the yaw operation unit ( 712) and the actuation operation unit 713 to be able to rotate together around the yaw rotation shaft 7121.

The pitch manipulation unit 711 may include a pitch frame 7113 and a J1R mediation pulley (715J1R), a J1L mediation pulley (715J1L), a J2R mediation pulley (not shown), and a J2L mediation pulley (not shown). Here, the J1R mediation pulley (715J1R) and the J2R mediation pulley (not shown) may be formed at both ends branched to the left and right of the pitch frame 7113, and the J1L mediation pulley (715J1L) and the J2L mediation pulley (not shown) are It may be formed at both ends of the pitch frame 7113 branched to the left and right.

At this time, the J1R mediation pulley (715J1R), the J1L mediation pulley (715J1L), the J2R mediation pulley (715J2R), and the J2L mediation pulley (715J2L) perform the role of the pitch pulley in the embodiments described above, and the pitch rotation shaft 7111 can be rotated around the center.

On the other hand, Article 1 R wire (730J1R) represents the right wire among both strands of Article 1 wire (730J1), Article 1 R wire (730J1R) is again divided into two, the first entering the pitch control unit (711) The pair R wire-in (730J1Rin) and the first pair R wire-out (730J1Rout) connected to the actuation operation unit 713 out of the pitch operation unit 711 is divided.

Similarly, Article 1 L wire (730J1L) represents the left wire among both strands of Article 1 wire (730J1), Article 1 L wire (730J1L) is again divided into two, the first entering the pitch control unit (711) It is divided into group L wire-in (730J1Lin) and Article 1 L wire-out (730J1Lout) connected to the actuation operation unit 713 from the pitch operation unit 711.

J1R intermediate pulley (715J1R) is formed to face each other and includes two pulleys that rotate together integrally. And, any one pulley of the J1R intermediary pulley (715J1R) Article 1 R wire-in (730J1Rin) is coupled, the other pulley is Article 1 R wire-out (730J1Rout) is coupled. At this time, as shown in Figure 66, Article 1 R wire-in (730J1Rin) is wound into the J1R intermediate pulley (715J1R) (counterclockwise when viewed in Figure 66) and Article 1 R wire-out (730J1Rout) The direction (counterclockwise when viewed in FIG. 66) is the same as the J1R intermediary pulley 715J1R.

J1L intermediate pulley (715J1L) is formed to face each other and includes two pulleys that rotate together integrally. And, any one pulley of the J1L intermediate pulley (715J1L) Article 1 L wire-in (730J1Lin) is coupled, the other pulley is Article 1 L wire-out (730J1Lout) is coupled. At this time, as shown in Figure 66, Article 1 L wire-in (730J1Lin) is wound in the J1L intermediate pulley (715J1L) (counterclockwise when viewed in Figure 66) and Article 1 L wire-out (730J1Lout) The direction (counterclockwise as seen in FIG. 66) is the same as the J1L intermediate pulley 715J1L.

For example, when Article 1 R wire-in (730J1Rin) is pushed or pulled, the J1R intermediary pulley (715J1R) rotates, and thus Article 1 R wire-out ( 730J1Rout) is pushed or pulled along the J1R intermediary pulley (715J1R) in the direction of rotation of the same J1R intermediary pulley (715J1R) as Article 1 R wire-in (730J1Rin). That is, Article 1 R wire-in (730J1Rin) is moved from the J1R intermediate pulley (715J1R) toward the end tool 720, Article 1 R wire-out (730J1Rout) is the yaw operation unit 712 from the side J1R intermediate pulley ( 715J1R). This is also the case with Article 1 L wire (730J1L). At this time, J1R intermediary pulley (715J1R), J1L intermediary pulley (715J1L) may rotate independently of each other about the pitch rotation shaft (7111). Article 2 The wire may be formed to connect the end tool and the manipulation unit in the same manner.

The pitch wire end pulley 715P is fixedly coupled to the pitch rotation shaft 7111 and formed to rotate together, and the pitch rotation shaft 7111 is fixedly coupled to the pitch frame 7113, and consequently the pitch frame (by pitch rotation) 7113), the pitch rotation shaft 7111, and the pitch wire end pulley 715P may rotate together. At this time, J1R mediation pulley (715J1R), J1L mediation pulley (715J1L), J2R mediation pulley (715J2R), J2L mediation pulley (715J2L) are each formed to be able to rotate independently about the pitch rotation shaft (7111).

The actuation operation, the yaw operation, and the pitch operation in this embodiment will be described as follows.

First, the actuation operation is as follows.

The user puts the index finger in the first actuation rotating part (7132a), the second actuation rotating part (7132b) by using either finger or both fingers in a state of inserting the thumb in the actuation rotating part (7132a) (7132b) ) is rotated, the first actuation pulley (713P1) and the first actuation gear (7134a) fixedly coupled to the first actuation rotating part (7132a) rotate about the first actuation rotating shaft (7131a), and the first 2 The second actuation pulley (7133b) and the second actuation gear (7134b) fixedly coupled to the actuation rotating part (7132b) rotates around the second actuation rotating shaft (7131b). At this time, the first actuation pulley (713P1) and the second actuation pulley (713P2) rotate in opposite directions to each other, and thus one end of the first actuation pulley (713P1) is fixedly coupled to Article 1 wire (730J1) And the second actuation pulley (713P2), one end is fixedly coupled Article 2 wire (730J2) is also moved in opposite directions to each other. And, this rotational force is transmitted to the end tool 720 through the power transmission unit 730, the two jaws (jaw) 721, 722 of the end tool 720 performs the actuation operation.

Next, the yo operation is as follows.

65 and 68, when the user rotates the first handle 714 about the yaw rotation shaft 7121 while holding the first handle 714, the actuation operation unit 713 and the yaw operation unit ( The yaw rotation is performed around the yaw rotation shaft 7121 of the 712 . That is, when the first actuation pulley (713P1) of the first actuation manipulation unit (713a) to which the Article 1 wire (730J1) is fixedly coupled rotates about the yaw rotation shaft 7121, the Article 1 yaw pulley ( Article 1 wire (730J1) wound on 712P1) is moved. Similarly, when the second actuation pulley (713P2) of the second actuation operation unit (713b) to which the Article 2 wire (730J2) is fixedly coupled is rotated around the yaw rotation shaft 7121, the Article 2 yaw pulley ( Article 2 wire (730J2) wound on 712P2) is moved. At this time, Article 1 wire (730J1) connected to Article 1 (721) and Article 2 wire (730J2) connected to Article 2 (722) are connected to Article 1 (721) and Article 2 ( 722) may be configured to rotate in the same direction. And, this rotational force is transmitted to the end tool 720 through the power transmission unit 730, the two jaws (jaw) 721, 722 of the end tool 720 performs a yaw operation.

At this time, since the yaw frame 7123 connects the first handle 714, the yaw rotation shaft 7121, the first actuation rotation shaft 7131a, and the second actuation rotation shaft 7131b, the first handle 714 and the yaw The manipulation unit 712 and the actuation manipulation unit 713 rotate together around the yaw rotation shaft 7121 .

Next, the pitch operation is as follows.

65 and 69, when the user rotates the first handle 714 about the pitch rotation shaft 7111 in a state holding the first handle 714, the actuation operation unit 713, the yaw operation unit ( 712 ) and the pitch manipulation unit 711 perform pitch rotation together around the pitch rotation shaft 7111 . That is, when the first actuation pulley (713P1) of the first actuation operation unit (713a) to which the Article 1 wire (730J1) is fixedly coupled is rotated about the pitch rotation axis (7111), the J1R intermediary pulley (715J1R) Both strands (730J1R, 730J1L) of Article 1 wire (730J1) coupled to the J1L intermediate pulley (715J1L) are moved in the same direction. Similarly, when the second actuation pulley (713P2) of the second actuation manipulation unit (713b) to which the Article 2 wire (730J2) is fixedly coupled is rotated around the pitch rotation shaft (7111), the J2R intermediary pulley (715J2R) , both strands of the Article 2 wire (730J2) coupled to the J2L intermediate pulley (715J2L) are moved in the same direction. At this time, Article 1 wire (730J1) and Article 2 wire (730J2) moves in opposite directions. And, this rotational force is transmitted to the end tool 720 through the power transmission unit 730, two jaws (jaw) 721, 722 of the end tool 720 performs a pitch operation.

At this time, the pitch frame 7113 is connected to the yaw frame 7123, and the yaw frame 7123 is a first handle 714, a yaw rotation shaft 7121, a first actuation rotation shaft 7131a, a second actuation rotation shaft ( 7131b), when the pitch frame 7113 rotates about the pitch rotation axis 7111, the yaw frame 7123 connected to the pitch frame 7113, the first handle 714, the yaw rotation shaft 7121, the first The first actuation axis of rotation (7131a) and the second actuation axis of rotation (7131b) rotate together. That is, when the pitch manipulation unit 711 rotates around the pitch rotation shaft 7111 , the actuation manipulation unit 713 and the yaw manipulation unit 712 rotate together with the pitch manipulation unit 711 .

On the other hand, a pitch pulley 723P is formed in the end tool, a pitch wire end pulley 715P is formed in the operation unit, and are connected to each other by a pitch wire 730P, so that the pitch operation of the end tool according to the pitch operation of the operation unit is more can be easily performed. Ends of both strands of the pitch wire 730P are fixedly coupled to the corresponding pitch wire end pulleys 715P, respectively, and each pitch wire end pulley 715P is fixedly coupled to the pitch frame 7113 . That is, the pitch frame 7113 and the pitch wire end pulley 715P also rotate about the pitch rotation shaft 7111 together by the pitch rotation of the manipulation unit, and as a result, both strands of the pitch wire 730P are also in opposite directions. By moving, Article 1 wire (730J1) and Article 2 wire (730J2) can transmit the power of additional pitch rotation separately from the pitch motion of the end tool by the wire.

In summary, in the surgical instrument 700 according to an embodiment of the present invention, a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), and a wire (Article 1 wire or second article) is formed in this pulley. wire) is wound, and the rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes movement of each wire, as a result, it is characterized in that it induces the desired operation of the end tool 720 . Furthermore, auxiliary pulleys may be formed on one side of each pulley, and the wire may not be wound several times on one pulley by these auxiliary pulleys.

In this embodiment, the bending part 741 and the manipulation part 710 are branched to both sides, and as shown in FIG. 64, the rotation axis of the yaw joint and the rotation axis of the pitch joint cross each other as close as possible, and at the same time, the intersection or proximity position It is one of the important features to form a space in which the user's hand or wrist can be accommodated. To this end, in this embodiment, the components (a pulley, a wire, etc.) of the manipulation unit 710 are divided into two and arranged on both sides of the branch. However, the configuration for the above feature may be variously deformable. That is, the components (pulleys, wires, etc.) of the manipulation unit 710 may be disposed on only one of the branched sides. In addition, in order to form a space in which the user's hand or wrist can be accommodated, the cutting part 741 and the manipulation part 710 may be configured to be bent in only one side without branching to both sides. That is, in the structure branched to both sides in the embodiment, one may be configured in an omitted form. Such modifications and the like can be sufficiently inferred from the description of the present embodiment, and a detailed description thereof will be omitted.

<Eighth embodiment of surgical instrument>

Hereinafter, a surgical instrument 800 according to an eighth embodiment of the present invention will be described. Here, in the surgical instrument 800 according to the eighth embodiment of the present invention, the configuration of the operation unit 810 of the surgical instrument 800 is characteristically different from that of the sixth embodiment of the present invention described above. As in the sixth embodiment, the joint configuration of the manipulation unit 810 for manipulating the operation of the end tool 820 is described based on the wire connected from the end tool 820 to the manipulation unit 810, the yaw manipulation unit 812 ) is formed first, and then the pitch manipulation unit 811 and the actuation manipulation unit 813 are formed on the yaw manipulation unit 812 . However, the difference between the eighth embodiment and the sixth embodiment is that, as in the seventh embodiment, the bent portion 841 is formed in an approximately '∩' shape so that it branches left and right in the middle, and the pitch frame 8113 is also branched left and right. It is formed in an approximately '∩' shape, and both ends branched to the left and right of the pitch frame 8113 and both ends branched to the left and right of the bent portion 841 are connected to each other through a pitch rotation shaft 8111 . Through this configuration, as described in the seventh embodiment, the rotation axis of the yaw joint of the manipulation unit 810 and the rotation axis of the pitch joint can match the wrist joint of the user holding the handle and performing the yaw operation and the pitch operation, , there is an effect of providing a more natural and intuitive operation feeling in the operation of the user.

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

The point that the configuration of the eighth embodiment is different from that of the sixth embodiment is the same as the point that the configuration of the seventh embodiment is different from that of the first embodiment. That is, the configuration of the seventh embodiment is characterized in that the configuration of the first embodiment is that the path of each pair of wires and the pulleys for it are branched into both strands, and the configuration of the eighth embodiment is also the configuration of the sixth embodiment is the configuration of each pair of wires It is characterized in that the path and pulleys for it are branched into both strands. Accordingly, the configuration of the eighth embodiment can be fully understood from the description of the sixth and seventh embodiments, and detailed descriptions thereof will be omitted.

In this embodiment, the bending part 841 and the manipulation part 810 are branched to both sides, and as in the case of FIG. 64, the rotation axis of the yaw joint and the rotation axis of the pitch joint intersect each other, etc. as close as possible, and at the same time cross or It is one of the important features to form a space in which the user's hand or wrist can be accommodated in the proximity position. To this end, in the present embodiment, the components (a pulley, a wire, etc.) of the manipulation unit 810 are divided into two and arranged on both sides of the branch. However, the configuration for the above feature may be variously deformable. That is, the components (pulleys, wires, etc.) of the manipulation unit 810 may be disposed only on one of the branched sides. In addition, in order to form a space in which the user's hand or wrist can be accommodated, the bending part 841 and the manipulation part 810 may be configured to be bent in only one side without branching to both sides. That is, in the structure branched to both sides in the present embodiment, one may be configured in an omitted form. Such modifications and the like can be sufficiently inferred from the description of the present embodiment, and a detailed description thereof will be omitted.

<Ninth embodiment of surgical instrument>

Hereinafter, a surgical instrument 900 according to a ninth embodiment of the present invention will be described. Here, the surgical instrument 900 according to the ninth embodiment of the present invention is compared to the surgical instrument according to the first embodiment of the present invention (refer to 100 in FIG. 2 ) described above. The configuration of 910 is characteristically different. As described above, a configuration different from that of the first embodiment will be described in detail.

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

Here, the surgical instrument 900 according to the ninth embodiment of the present invention is an embodiment in which the modified example shown in FIG. 25(a) is specifically implemented. That is, Article 1 yaw auxiliary pulley (112S1) of Fig. 25 (a) corresponds to Article 1 yo auxiliary pulley (912S1) of Fig. 77, and Article 1 yaw pulley (112P1) of Fig. 25 (a) is shown in Fig. Article 1 of 77 corresponds to the pulley (912P1), the first actuation pulley (113P1) and the second actuation pulley (113P2) of Figure 25 (a) is the first actuation pulley (913P1) and Corresponds to the second actuation pulley (913P2).

Here, the present embodiment is different from the first embodiment in that the ends of both strands of a pair of wires are not coupled to the same actuation pulley, but are coupled to different actuation pulleys. That is, the end of one strand of the Article 1 wire (930J1) is coupled to the first actuation pulley (913P1), and the end of the other strand of the Article 1 wire (930J1) is the second actuation pulley (913P2). are combined

And, the first actuation pulley (913P1) is fixedly coupled with the first actuation gear (9134a) to rotate together, the second actuation pulley (913P2) is fixedly coupled to the second actuation gear (9134b) and rotates together And, the first actuation gear (9134a) and the second actuation gear (9134b) is formed to mesh with each other, the rotation of the two actuation pulleys are synchronized. Accordingly, when either one of the actuation pulleys rotates, the other actuation pulley also rotates accordingly.

In this way, since the rotation of the two actuation pulleys is synchronized with each other due to gears, etc., both strands of Article 1 wire (930J1) are not necessarily wound on one actuation pulley, but are wound on different actuation pulleys. effect can be realized. Therefore, as shown in Fig. 25 (b), the configuration in which both strands of the Article 1 wire 930J1 are wound around each actuation pulley is also possible and can be sufficiently inferred, and a detailed description thereof will be omitted.

<Tenth embodiment of surgical instrument>

Hereinafter, a surgical instrument 1000 according to a tenth embodiment of the present invention will be described. Here, the surgical instrument 1000 according to the tenth embodiment of the present invention is compared to the surgical instrument according to the first embodiment of the present invention (see 100 in FIG. 2 ) described above, as compared to the operation unit of the surgical instrument 1000 . The configuration of (1010) is characteristically different. As described above, a configuration different from that of the first embodiment will be described in detail.

80 is an internal perspective view of a surgical instrument according to a tenth embodiment of the present invention, FIG. 81 is an internal perspective view with the actuation gear removed in FIG. 80, and FIG. 82 is a perspective view showing the yaw operation of the surgical instrument of FIG. , and FIG. 83 is a perspective view showing the pitch operation of the surgical instrument of FIG. 81 .

Here, the surgical instrument 1000 according to the tenth embodiment of the present invention is an embodiment in which the modified example shown in FIG. 26 is specifically implemented. That is, Article 1 yaw auxiliary pulley (112S1) of Figure 26 corresponds to Article 1 yo auxiliary pulley (1012S1) of Figure 81, Article 1 yaw pulley (112P1) of Figure 26 is Article 1 yo of Figure 81 Corresponding to the pulley 1012P1, the first actuation pulley (113P1) and the second actuation pulley (113P2) of Figure 26 are the first actuation pulley (1013P1) and the second actuation pulley (1013P2) of Figure 81 respond

Here, the present embodiment is different from the first embodiment in that the ends of both strands of a pair of wires are not coupled to the same actuation pulley, but are coupled to different actuation pulleys. That is, the end of one strand of the Article 1 wire (1030J1) is coupled to the first actuation pulley (1013P1), and the end of the other strand of the Article 1 wire (1030J1) is coupled to the second actuation pulley (1013P2) do.

And, the first actuation pulley (1013P1) is fixedly coupled to the first actuation gear (10134a) and rotates together, the second actuation pulley (1013P2) is fixedly coupled with the second actuation gear (10134b) and rotates together And, the first actuation gear (10134a) and the second actuation gear (10134b) is formed to mesh with each other, the rotation of the two actuation pulleys are synchronized. Accordingly, when either one of the actuation pulleys rotates, the other actuation pulley also rotates accordingly.

In addition, this embodiment is different from the embodiment of Figure 2 in that the two actuation pulleys are not formed to be close to each other, but are spaced apart from each other and formed on opposite sides of the Article 1 yaw pulley (112P1).

And, in order to rotate the first actuation gear (10134a) and the second actuation gear (10134b) far away from each other to mesh with each other, the first actuation gear (10134a) and the second actuation gear (10134b) have a diameter Compared to the previous embodiments, it may be formed to be larger to a certain extent.

By such a configuration, the actuation pulley can be disposed behind other embodiments, that is, the actuation handle can be lengthened, so that the actuation operation can be performed more easily. This is because, according to the lever principle, the longer the handle, the less force the actuation operation can be performed.

<Eleventh embodiment of surgical instrument>

Hereinafter, a surgical instrument 1100 according to an eleventh embodiment of the present invention will be described. Here, the surgical instrument 1100 according to the eleventh embodiment of the present invention is compared to the surgical instrument according to the first embodiment of the present invention (refer to 100 in FIG. 2 ) described above compared to the operation unit of the surgical instrument 1100 (1110) is characteristically different. As described above, a configuration different from that of the first embodiment will be described in detail.

84 is an internal perspective view of a surgical instrument according to an eleventh embodiment of the present invention, FIG. 85 is an internal perspective view with the actuation gear removed in FIG. 84, and FIG. 86 is a perspective view showing the yaw operation of the surgical instrument of FIG. , and FIG. 87 is a perspective view showing the pitch operation of the surgical instrument of FIG. 84 .

Here, the surgical instrument 1100 according to the eleventh embodiment of the present invention is an embodiment in which the modified example shown in FIG. 27 is specifically implemented. That is, Article 1 yaw auxiliary pulley (112S1) of Figure 27 corresponds to Article 1 yo auxiliary pulley (1112S1) of Figure 84, Article 1 yaw pulley (112P1) of Figure 27 is Article 1 yo of Figure 84 Corresponding to the pulley 1112P1, the first actuation pulley (113P1) and the second actuation pulley (113P2) of FIG. 27 are the first actuation pulley (1113P1) and the second actuation pulley (1113P2) of FIG. respond

Here, the present embodiment is different from the first embodiment in that the two actuation pulleys are not formed to be close to each other, but are spaced apart from each other and formed on opposite sides of the yaw pulley. And, for this, the first actuation pulley (1113P1) is fixedly coupled with the first actuation gear (11134a) to rotate together, and the second actuation pulley (1113P2) is fixedly coupled with the second actuation gear (11134b) Rotating together, the first actuation gear (11134a) and the second actuation gear (11134b) are formed to mesh with each other so that the rotation of the two actuation pulleys is synchronized. Accordingly, when either one of the actuation pulleys rotates, the other actuation pulley also rotates accordingly.

And, in order to rotate the first actuation gear (11134a) and the second actuation gear (11134b) far away from each other to mesh with each other, the first actuation gear (11134a) and the second actuation gear (11134b) have a diameter Compared to the previous embodiments, it may be formed to be larger to a certain extent.

Also, it is different from the first embodiment and the like in that the positional relationship (front and rear relationship) between the yaw pulley and the yaw auxiliary pulley is changed. That is, in spite of being a direct joint, the pulley located on the right side in the drawing becomes the Article 1 yaw pulley 1112P1, and the axis of rotation of the Article 1 yaw pulley 1112P1 becomes the yaw rotation axis. And to implement this, Article 1 wire passing through Article 1 pitch auxiliary pulley-a (1111S1a) is passed through Article 1 yaw pulley (1112P1) after winding Article 1 yaw auxiliary pulley (1112S1), the first actuation It is fixedly coupled to the pulley (1113P1). And, Article 1 wire passing through Article 1 pitch auxiliary pulley-b (not shown) directly passes Article 1 yaw pulley (1112P1) without going through Article 1 yaw auxiliary pulley (1112S1), the first actuation pulley ( 1113P1) is fixedly coupled.

By such a configuration, it is possible to arrange the yaw rotation shaft closer to the pitch rotation shaft than other embodiments, and as a result, there is an effect that can provide a more natural and intuitive operation feeling in the user's operation. In addition, by this configuration, the actuation pulley can be disposed behind other embodiments, that is, the actuation handle can be lengthened, so that the actuation operation can be performed more easily. This is because, according to the lever principle, the longer the handle, the less force the actuation operation can be performed.

<Twelfth embodiment of surgical instrument>

Hereinafter, a surgical instrument 1200 according to a twelfth embodiment of the present invention will be described. Here, the surgical instrument 1200 according to the twelfth embodiment of the present invention has a configuration of the manipulation unit 1210 of the surgical instrument 1200 compared to the first embodiment (see 100 in FIG. 2 ) of the present invention described above. This is characteristically different.

88 is a perspective view showing a surgical instrument according to a twelfth embodiment of the present invention, and FIG. 89 is an internal perspective view showing the structure of a wire and the like of the surgical instrument of FIG.

As in the first embodiment, the joint configuration of the manipulation unit 1210 for operating the operation of the end tool (not shown) is described based on the wire connected from the end tool (not shown) to the manipulation unit 1210, the pitch manipulation unit (1211), the yaw operation unit 1212, the actuation operation unit 1213 is formed in sequence.

The configuration of the twelfth embodiment is characteristically different from that of the first embodiment in that the pitch rotation shaft 12111 is formed to be spaced apart from the yaw rotation shaft 12121 to a considerable extent, similar to the characteristic in the seventh embodiment. Through this, as shown in FIG. 88, the yaw rotation axis 12121 of the yaw joint and the pitch rotation axis 12111 of the pitch joint intersect each other, etc. space is formed.

However, the configuration of the twelfth embodiment and the configuration of the seventh embodiment are characteristically different in the configuration of the operation unit. In the seventh embodiment, the bent portion 741 and the pitch frame 7113 are formed in an approximately '∩' shape so that they are branched to the left and right, and both ends of the pitch frame 7113 are branched to the left and right of the bent portion 741 . The branched both ends are connected to each other through the pitch rotation shaft 7111 . On the other hand, in the twelfth embodiment, as shown in FIG. 88 , the bending part 1241 and the manipulation part 1210 are configured to be bent in only one side without branching to both sides.

Through this configuration, without having a separate intermediate pulley (715J1R, 715J1L, etc.) as in the seventh embodiment, from the end tool (not shown) to the manipulation unit 1210 Article 1 wire (not shown) and the second A jaw wire (not shown) may be connected.

Through this, the yaw rotation shaft 12121 of the yaw joint and the pitch rotation shaft 12111 of the pitch joint of the manipulation unit 1210 may match the wrist joint of the user holding the handle and performing the yaw operation and the pitch operation. That is, it is possible to provide a more natural and intuitive operation feeling in the user's operation.

The configuration of the manipulation unit 1210 of the twelfth embodiment has a structure such as the surgical instrument 100 and the yaw pulley and the pitch pulley according to the first embodiment, except that the bent part 1241 and the pitch frame 12113 are bent. is the same, and is similar to the configuration of the surgical instrument 700 according to the seventh embodiment. Accordingly, the configuration according to the twelfth embodiment can be sufficiently inferred from the configuration of the first embodiment and the configuration of the seventh embodiment, and detailed description thereof will be omitted.

As described above, the present invention has been described with reference to one embodiment shown in the drawings, but it will be understood that various modifications and variations of the embodiments are possible therefrom by those of ordinary skill in the art. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: surgical instrument
110: control panel
111: pitch control unit
112: yaw control unit
113: actuation control unit
114: first handle
120: end tool (end tool)
130: power transmission unit
140: connection
141: bend

Claims (20)

Jaws 1 and 2 that are independently rotatable from each other;
Combined with the first set, J11 pulley formed to be rotatable about a first axis;
J21 pulley coupled to the second set and formed to be rotatable about the first axis;
a J12 pulley and a J14 pulley formed on one side of the J11 pulley and rotatable about a second axis formed to form a predetermined angle with the first axis;
a J22 pulley and a J24 pulley formed on one side of the J21 pulley and rotatable about an axis that is substantially the same as or parallel to the second axis;
a J16 pulley disposed between the J12 pulley/the J14 pulley and the J11 pulley and configured to be rotatable about an axis substantially parallel to the first axis; and
The J22 pulley / J26 pulley disposed between the J24 pulley and the J21 pulley, the J26 pulley formed to be rotatable about an axis substantially parallel to the first axis; including an end tool comprising,
The first group and the second group perform a yaw motion or an actuation motion while rotating about the first axis,
The first set and the second set perform a pitch movement while rotating about the second axis,
a manipulation unit for controlling the pitch motion, yaw motion, or actuation motion of the end tool;
Article 1 wire connected to the operation unit to transmit the rotation of the operation unit to the first jaw (jaw), and Article 2 wire connected to the operation unit to transmit the rotation of the operation unit to the Article 2 (jaw) A power transmission unit comprising a; and
It is formed to extend in the first direction (X-axis), the end tool is coupled to one end and the other end is coupled to the manipulation unit, a connection unit for connecting the manipulation unit and the end tool;
The Article 1 wire is located on a common inscribed line of the J11 pulley and the J16 pulley,
The Article 2 wire is a surgical instrument, characterized in that located on a common inscribed line of the J21 pulley and the J26 pulley. The method of claim 1,
The Article 1 wire passes through both the J12 pulley and the J14 pulley, and the J11 pulley or the J21 pulley for a surgical instrument, characterized in that it passes through any one. 3. The method of claim 2,
The Article 2 wire passes through both the J22 pulley and the J24 pulley, and passes through the other one of the J11 pulley or the J21 pulley. The method of claim 1,
Based on a plane perpendicular to the first axis and formed between the J11 pulley and the J21 pulley,
The Article 1 wire is input to the J12 pulley from any one side of the one plane, and surgical instrument, characterized in that output to the one side of the one plane through the J14 pulley. The method of claim 1,
It is perpendicular to the second axis and based on a plane passing through the first axis,
The Article 1 wire is input to the J12 pulley from any one side of the one plane, and surgical instrument, characterized in that output to the one side of the one plane through the J14 pulley. 3. The method of claim 2,
When viewed on a plane perpendicular to the first axis,
After the Article 1 wire passes through the J12 pulley, the J11 pulley is wound in any one of clockwise and counterclockwise directions, and the J16 pulley is wound in the other one of the clockwise and counterclockwise directions. a surgical instrument. The method of claim 1,
The Article 1 wire is formed to sequentially contact the J12 pulley, J11 pulley, J16 pulley, and J14 pulley,
The Article 2 wire is a surgical instrument, characterized in that formed to contact the J22 pulley, J21 pulley, J26 pulley, J24 pulley in sequence. The method of claim 1,
By the J16 pulley, the two strands of the Article 1 wire wound around the J11 pulley are perpendicular to the second axis and disposed on one side with respect to a plane passing through the first axis,
By the J26 pulley, the two strands of the Article 2 wire wound around the J21 pulley are perpendicular to the second axis and a surgical instrument, characterized in that it is disposed on the other side with respect to a plane passing through the first axis. The method of claim 1,
Either side of the Article 1 wire wound around the J11 pulley is formed to pass between the J11 pulley and the J16 pulley,
One side of the Article 2 wire wound around the J21 pulley is a surgical instrument, characterized in that it is formed to pass between the J21 pulley and the J26 pulley. The method of claim 1,
It is perpendicular to the second axis and based on a plane passing through the first axis,
The J12 pulley and the J14 pulley are formed on either side of the one plane,
The J22 pulley and the J24 pulley are surgical instruments, characterized in that formed on the other side of the plane. The method of claim 1,
The Article 1 wire and the J11 pulley are fixedly coupled by a coupling part,
The Article 1 wire is disposed to pass between the J11 pulley and the J16 pulley, surgical instrument, characterized in that the rotation angle of the coupling portion is expanded. The method of claim 1,
The connecting portion is a surgical instrument comprising a bent portion that is formed to be bent more than once while connecting the end tool and the manipulation unit. 13. The method of claim 12,
The bent portion is formed so that the cross section has a predetermined curvature,
A surgical instrument, characterized in that the formation direction of the manipulation part at the end of the bent part and the formation direction of the end tool at the point where the connection part and the end tool are connected are substantially the same. 13. The method of claim 12,
At least a portion of the manipulation unit is a surgical instrument, characterized in that it is formed to be accommodated in the bent unit in at least one operating state of the manipulation unit. 13. The method of claim 12,
Surgical instrument, characterized in that one or more intermediate pulleys for guiding the path of the wires are formed in the bent portion. The method of claim 1,
The operation unit,
And an actuation operation unit for controlling the actuation movement of the end tool;
a yaw operation unit formed on one side of the actuation operation unit and controlling the yaw movement of the end tool;
Formed on one side of the yaw manipulation unit, a surgical instrument comprising a pitch manipulation unit for controlling a pitch movement of the end tool. 17. The method of claim 16,
The operation unit further comprises a first handle,
At least some of the yaw manipulation unit, the actuation manipulation unit, and the pitch manipulation unit are surgical instruments, characterized in that formed to be directly connected to the first handle. 17. The method of claim 16,
The actuation operation unit is provided with one or more second handles,
The second handle is a surgical instrument, characterized in that formed in the shape of a hand ring so that the user can move or rotate using a finger. 17. The method of claim 16,
The Article 1 wire and Article 2 wire is a surgical instrument, characterized in that formed so as to be connected to the actuation operation unit through the connection unit, the pitch manipulation unit, and the yaw manipulation unit sequentially from the end tool. 13. The method of claim 12,
The formation direction of the manipulation part at the proximal end of the bent part is the distal end direction of the surgical instrument, and the formation direction of the end tool at the point where the connection part and the end tool are connected is also the surgery A surgical instrument, characterized in that in the direction of the distal end of the instrument.

Images