KR20200105791A - End tool for Surgical instrument - Google Patents

Abstract

The present invention relates to an end tool of a surgical instrument and, more specifically, to an end tool of a manually operable surgical instrument for use in laparoscopic surgery or a variety of different surgeries. The end tool of a surgical instrument comprises: a first jaw and a second jaw; a J11 pulley; a J12 pulley and a J14 pulley; a J21 pulley; and a J22 pulley and a J24 pulley.

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 types of surgery.

Medically, surgery refers to curing a disease by cutting, slicing, or manipulating the skin, mucous membranes, and other tissues using medical devices. In particular, open surgery in which the skin at the surgical site is cut open and the internal organs, etc. are treated, formed, or removed, causing problems such as bleeding, side effects, patient pain, and scars. Therefore, in recent years, surgery performed by inserting only a medical device such as a laparoscope, a surgical instrument, a microscope for microsurgery, etc. by forming a predetermined hole in the skin, or a surgery using a robot has been in the spotlight as an alternative.

The surgical instrument is a tool for operating the surgical site by manually manipulating an end tool provided at one end of a shaft that passes through a hole drilled in the skin by a doctor using a predetermined driving unit or manipulating it using a robot arm. . An end tool provided in a surgical instrument performs rotational motion, gripping, cutting, and the like through a predetermined structure.

However, the existing surgical instrument has a problem that the end tool is not bent, so it is not easy to access the surgical site and perform various surgical operations. In order to compensate for this, surgical instruments that can bend the end tool part have been developed, but the operation of the operation part to bend the end tool or perform a surgical operation is intuitively consistent with the operation of the actual end tool bent or performing a surgical operation. Therefore, there is a problem that intuitive operation is not easy from the perspective of the operator, and it takes a long time to skilled in the use method.

The above-described background technology is technical information possessed by the inventors for derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily known to be publicly known prior to filing the present invention.

It is an object of the present invention to solve the above-described problems, and to provide an end tool of a surgical instrument for intuitively matching an operation of an actual end tool to bend or perform a surgical operation, and an operation of a corresponding operation unit. It is aimed at. More specifically, for this purpose, an end tool having multiple degrees of freedom, an operation unit having a structure that allows intuitive operation of the end tool, and transmitting the driving force of the operation unit to the end tool so that the end tool can be operated as the operation unit is operated. Provides a power transmission.

An embodiment of the present invention can be rotated independently from each other Article 1 (jaw) and Article 2 (jaw); It is combined with the first set, and is formed so as to be rotatable about the first axis, and the first link of the article 1 wire to which one end of the article 1 wire is coupled and the other end of the article 1 wire are combined J11 pulley in 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 shaft formed to form a predetermined angle with the first shaft; The Article 2 wire first coupling part and the Article 2 wire coupled to the Article 2 and formed to be rotatable about an axis substantially the same or parallel to the first axis, and to which one end of the Article 2 wire is coupled A J21 pulley in which the other end of the Article 2 wire is coupled to the second connecting portion; Includes; J22 pulley and J24 pulley formed on one side of the J21 pulley and rotatable about an axis substantially the same or parallel to the second axis, and Article 1 wire includes the J12 pulley, J11 pulley , J14 pulley and at least a portion is formed to contact, Article 2 wire provides an end tool of a surgical instrument, characterized in that formed to contact the J22 pulley, J21 pulley, and at least a portion of the J24 pulley.

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, since the operation direction of the operation part by the operator and the operation direction of the end tool are intuitively the same direction, the convenience of the operator is improved, and the accuracy, reliability, and speed of surgery can be improved. .

1A is a conceptual diagram of a pitch operation of a conventional surgical instrument, and FIG. 1B is a conceptual diagram of a yaw operation.
1C is a conceptual diagram of a pitch operation of another conventional surgical instrument, and FIG. 1D is a conceptual diagram of a yaw operation.
Figure 1e is a conceptual diagram of a pitch operation of the instrument for surgery according to the present invention, Figure 1f is a conceptual diagram of yaw operation.
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 an end tool of the surgical instrument of FIG. 2.
6A is a plan view showing an end tool of the surgical instrument of FIG. 2.
6B is a plan view showing an end tool of a conventional surgical instrument.
6C is a diagram illustrating a modified example of the end tool of FIG. 6A.
6D is a view showing a modified example of the end tool of FIG. 6A.
7A and 7B are perspective views illustrating an operation part of the surgical instrument of FIG. 2.
8 is a view schematically showing only the configuration of a pulley and a wire constituting the joint of the surgical instrument according to an embodiment of the present invention shown in FIG.
FIG. 9 is a diagram illustrating the configuration of pulleys and wires related to the actuation and yaw movements of the surgical instrument according to an embodiment of the present invention shown in FIG. 7 by loosening for each of Articles 1 and 2. FIG.
10 is a perspective view showing a yaw operation of the surgical instrument of FIG. 7.
11 is a diagram illustrating the configuration of pulleys and wires related to the pitch operation of the surgical instrument according to an embodiment of the present invention shown in FIG. 7 by loosening for each of the first and second sets.
12 is a perspective view showing a pitch operation of the surgical instrument of FIG. 7.
13 is a diagram illustrating an example of a direct joint of a yaw joint.
14 is a diagram illustrating an example of an indirect joint of a 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 joint of a pitch joint.
FIG. 17 is a diagram showing a configuration of a pulley and a wire related to the operation of the first set of the surgical instrument according to an embodiment of the present invention shown in FIG. 9 and modifications thereof.
18 is a diagram illustrating another modified example of the embodiment disclosed in FIG. 17.
19 is a view showing another modified example of the embodiment disclosed in FIG. 17.
20 is a view showing another modified example of the embodiment disclosed in FIG. 17.
21 is a view showing another modified example of the embodiment disclosed in FIG. 17.
22 is a diagram illustrating 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 view showing another modified example of the embodiment disclosed in FIG. 17.
25 is a view showing 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 view showing another modified example of the embodiment disclosed in FIG. 17.
28 is a diagram 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 showing 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 an operation part of the surgical instrument of FIG. 33.
37 and 38 are perspective views illustrating the 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.
42 is a side view of the surgical instrument of FIG. 41.
43 is a perspective view illustrating an operation part of the surgical instrument of FIG. 42.
44 and 45 are perspective views showing 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 showing the yaw motion of the surgical instrument according to the 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.
51 is a side view of the surgical instrument of FIG. 50.
52 and 53 are perspective views illustrating an operation part of the surgical instrument of FIG. 51.
54 and 55 are perspective views illustrating the yaw motion 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 an operation part of the surgical instrument of FIG. 56;
58 is an internal perspective view showing the wiring structure of the surgical instrument of FIG. 56.
59 is a perspective view showing 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.
61 is a perspective view showing a surgical instrument according to a seventh embodiment of the present invention.
62 is a side view of the surgical instrument of FIG. 61;
63 and 64 are perspective views illustrating an operation part of the surgical instrument of FIG. 61.
Figure 65 is an internal perspective view showing the wiring structure as an internal perspective view of the surgical instrument of Figure 61.
66 is an enlarged view of portion A of FIG. 65.
67 is a cross-sectional view taken along line CC' of FIG. 66;
68 is a perspective view showing a yaw operation of the surgical instrument of FIG. 61.
69 is a perspective view showing the pitch operation of the surgical instrument of FIG. 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 an operation part of the surgical instrument of FIG. 70;
72 is an internal perspective view showing the wiring structure of the surgical instrument of FIG. 70.
73 is a perspective view showing 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 showing a yaw operation of the surgical instrument of Figure 77.
79 is a perspective view showing the pitch operation of the surgical instrument of Figure 77.
80 is an internal perspective view of a surgical instrument according to a tenth embodiment of the present invention.
81 is an inner perspective view of FIG. 80 with the actuation gear removed.
82 is a perspective view showing a yaw operation of the surgical instrument of FIG. 81;
83 is a perspective view showing 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 inner perspective view of FIG. 84 with the actuation gear removed.
86 is a perspective view showing a yaw operation of the surgical instrument of FIG. 84.
87 is a perspective view showing the 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 a wire, etc. of the surgical instrument of FIG. 88;

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

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

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

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 constituent elements are assigned the same reference numbers, and redundant descriptions thereof will be omitted. To

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

<The first embodiment of the surgical instrument>

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

1A is a conceptual diagram of a pitch operation of a conventional surgical instrument, and FIG. 1B is a conceptual diagram of a yaw operation.

Referring to Figure 1a, in performing the pitch 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 (111a) of the operation unit ), when the operation part 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operation part 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 is also rotated clockwise, and when the operation unit 120a is rotated counterclockwise, the end tool 120a is also It is formed to rotate clockwise. In this case, from the perspective of the user's left and right direction, when the user moves the operation unit 110a to the left, the end tool 120a moves to the right, and when the user moves the operation unit 110a to the right, the end tool 120a is left Will move. As a result, there is a problem that the user's operation direction and the operation direction of the end tool are opposite, which may cause a user error and the user's operation is not easy.

1C is a conceptual diagram of a pitch operation of another conventional surgical instrument, and FIG. 1D is a conceptual diagram of a yaw operation.

Referring to Figure 1c, some of the conventional surgical instruments are formed in a mirror symmetrical shape, in performing the pitch operation, the end tool (120b) is formed in front of the rotation center (121b) of the end tool, the operation unit ( 110b) is formed behind the rotation center 111b of the operation unit, and when the operation unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise and the operation unit 110b rotates counterclockwise. If so, 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 is a problem that confusion in the direction of operation may be caused to the user, the motion of the joint is not intuitive, and a mistake may be caused. In addition, referring to Figure 1d, in performing the yaw operation, the end tool (120b) is formed in front of the rotation center (121b) of the end tool, the operation unit (110b) is behind 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 is formed to rotate 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 is a problem that confusion in the direction of operation may be caused to the user, the motion of the joint is not intuitive, and a mistake may be caused. In this way, in the user's pitch or yaw manipulation of the conventional surgical instrument, the user's manipulation direction and the end tool's motion direction do not coincide with each other in either the perspective of the rotation direction or the perspective of the left and right directions. This is because the configuration of the end tool and the operation unit are different from each other in the joint configuration of a conventional surgical instrument. That is, the end tool is formed in front of the rotation center of the end tool, whereas the operation part is formed behind the rotation center of the operation part. In order to solve such a problem, the surgical instrument according to an embodiment of the present invention shown in FIGS. 1E and 1F has an end tool 120c formed in front of the rotation center 121c of the end tool, and the operation part ( 110c) In addition, it is 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 is intuitively matched. Expressing this characteristic differently, unlike the existing example of the configuration in which the manipulation unit is closer to 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 part of the manipulation unit can be closer to the end tool (rather than the own joint) based on the own joint at one or more moments 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 rotational center, whereas the operation part is formed behind its rotational center. In this fixed state, through the operation of the operation unit that moves the rear side, the end tool moves in the front side while the rear side is fixed, so the structure is intuitively inconsistent. As a result, inconsistency may occur in the perspective of the left or right direction or the perspective of the rotation direction in the operation of the operation part and the operation of the end tool, and confusion may be caused to the user. There was a problem that it could be. On the other hand, in the surgical instrument according to an embodiment of the present invention, since both the end tool and the operation unit move based on the rotation center formed at the rear, it can be said that the motions are intuitively coincident with each other due to the structure. In other words, just as the moving part of the end tool moves based on the rotation center formed on the back side, the moving part of the operation part also moves based on the rotation center formed on the back side, so it can be said that the motions are intuitively consistent with each other due to the structure. have. Accordingly, the user can intuitively and quickly perform the control in the direction of the end tool, and the possibility of causing a mistake is significantly reduced. Hereinafter, a specific mechanism for enabling this function will be described.

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

2 and 3, the surgical instrument 100 according to the first embodiment of the present invention includes an operation unit 110, an end tool 120, a power transmission unit 130, and a connection unit 140. ). Here, the connection part 140 is formed in a shape of a hollow shaft, and one or more wires (to be described later) may be accommodated therein, and the operation part 110 is coupled to one end thereof, and an end thereof is provided at the other end. The tool 120 may be coupled to 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 a bent part 141 is formed on the side of the operation part 110. In this way, the end of the connection part 140 on the side of the operation part 110 is bent, so that the pitch control part 111, the yaw control part 112, and the actuation control part 113 are formed on the 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 part 111 and the yaw manipulation part 112 are accommodated in the concave part formed by the bent part 141. The shape and operation of the manipulation unit 110 and the end tool 120 may more intuitively match by the shape of the bent portion 141.

Meanwhile, the plane in which the bent portion 141 is formed may be a pitch plane, that is, a plane substantially the same as the XZ plane of FIG. 2. In this way, since the bent portion 141 is formed on substantially the same plane as the XZ plane, interference between the manipulation units may be reduced. Of course, for intuitive operation of the end tool and the control unit, other types of configurations as well as the XZ plane will be possible.

The operation unit 110 is formed at one end of the connection unit 140 and is provided in an interface that can be directly controlled by a doctor, for example, a forceps shape, a stick shape, a lever shape, etc., and when the doctor manipulates this, the corresponding interface The end tool 120 connected to and inserted into the body of the surgical patient performs a surgery by performing a predetermined operation. Here, in FIG. 2, the manipulation unit 110 is shown to be formed in a shape of a handle capable of rotating while a finger is inserted, but the spirit of the present invention is not limited thereto, and is connected to the end tool 120 to be connected to the end tool ( It will be said that various types of operation parts that can operate 120) are possible.

The end tool 120 is formed at the other end of the connection part 140 and is inserted into the surgical site to perform an operation required 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, configurations such as a one-armed cauterizer could 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 receives the driving force of the operation unit 110 through the power transmission unit 130, thereby providing a grip and cutting ( cutting), suturing, and other operations necessary for surgery are 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. It may be formed to perform a pitch motion around the center and perform a yaw motion and an actuation motion around the Z axis of FIG. 2.

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

First, the pitch operation refers to a movement in which the end tool 120 rotates in the vertical direction with respect to the extension direction of the connection part 140 (the X-axis direction in FIG. 2), that is, an operation in which the end tool 120 rotates around the Y-axis of FIG. it means. In other words, the end tool 120 extending from the connection part 140 in the extending direction of the connection part 140 (X-axis direction in FIG. 2) performs a vertical rotation about the Y-axis with respect to the connection part 140. it means. Next, the yaw operation is an operation in which the end tool 120 rotates in the left-right direction with respect to the extension direction of the connection part 140 (the X-axis direction in FIG. 2), that is, an operation in which it rotates around the Z-axis in FIG. Means. In other words, the end tool 120 extending from the connection part 140 in the extending direction of the connection part 140 (the X-axis direction in FIG. 2) performs a movement in which the end tool 120 rotates left and right about the Z-axis with respect to the connection part 140. it means. That is, the two jaws 121 and 122 formed on the end tool 120 are rotated in the same direction around the Z axis. On the other hand, in the actuation operation, the end tool 120 rotates around the same rotation axis as the yaw operation, but the two jaws 121 and 122 rotate in opposite directions to each other while the jaw ( jaw) refers to a constriction or opening motion. That is, the two jaws 121 and 122 formed on the end tool 120 refer to a motion in which the two jaws 121 and 122 rotate in opposite directions around 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 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, a first set of wires 130J1, and a second set of wires 130J2.

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

4 and 5 are perspective views illustrating an end tool of the surgical instrument of FIG. 2, and FIG. 6A is a plan view illustrating an 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 is a pair of jaws 121 and 122 for performing a grip operation. That is, it includes the first article 121 and the second article 122. In addition, the end tool 120 includes a J11 pulley (123J11), a J12 pulley (123J12), a J13 pulley (123J13), a J14 pulley (123J14) and a J15 pulley (123J15) related to the rotational motion of the first jaw (121). ), J21 pulley (123J21), J22 pulley (123J22), J23 pulley (123J23), J24 pulley (123J24), J25 pulley (123J25) related to the rotational motion of the second jaw (122). 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 rotation axis 123PA.

On the other hand, a connection hub 142 is formed at one end of the connection portion 140 coupled to the end tool 120. And, the aforementioned 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 parallel to each other, the spirit of the present invention is not limited thereto, and each pulley may be variously formed in a position and size 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 around the jaw rotation shaft (123JA). Here, the first jaw (121) is fixedly coupled to the J11 pulley (123J11) and rotates with the J11 pulley (123J11), and the second jaw (122) is fixedly coupled to the J21 pulley (123J21). It can rotate with the J21 pulley (123J21). According to the rotation of the J11 pulley (123J11) and J21 pulley (123J21), the yaw operation and actuation operation of the end tool 120 is performed. That is, when the J11 pulley (123J11) and the J21 pulley (123J21) rotate in the same direction, the yaw motion is performed, and when the J11 pulley (123J11) and J21 pulley (123J21) rotate in opposite directions, an actuation operation is performed. will be.

Meanwhile, on one side of the J11 pulley (123J11) and J21 pulley (123J21), auxiliary pulleys J16 pulley (123J16) and J26 pulley (123J26) may be additionally provided, and such auxiliary pulleys have an auxiliary pulley shaft (123S). It may be formed to be rotatable about the center. Here, in the drawing, the J16 pulley (123J16) and the J26 pulley (123J26) are formed to rotate around one auxiliary pulley shaft (123S), but each auxiliary pulley may be formed to be rotatable around a separate axis. 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). This auxiliary pulley will be described in more detail later.

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

On one side of the J11 pulley (123J11), a J12 pulley (123J12) and a 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 around the end tool pitch rotation shaft (123PA). Further, on one side of each of the J12 pulleys 123J12 and the J14 pulleys 123J14, the J13 pulleys 123J13 and the J15 pulleys 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 around the Y-axis direction. Here, in the drawings, J12 pulley (123J12), J13 pulley (123J13), J14 pulley (123J14) and J15 pulley (123J15) are all shown to be rotatable around the Y-axis direction, but the spirit of the present invention The present invention is not limited thereto, and the rotation shafts of each pulley may be formed in various directions to suit the configuration.

Article 1 wire (130J1) is the 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 It is wound, and the first wire (130J1) is formed to move along the pulleys while rotating the pulleys.

Therefore, when the first wire (130J1) is pulled toward the arrow J1R of FIG. 6A, the first wire (130J1) is a 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 direction of the arrow R of FIG. 6A and rotates the first jaw (121) together.

On the contrary, when the first wire (130J1) is pulled toward the arrow J1L of FIG. 6A, the first wire (130J1) is pulled J13 (123J13), pulley (123J12) J11, pulley (123J11), J16 pulley (123J16). , J14 pulley (123J14), J15 pulley (123J15) is rotated, and at this time, the J11 pulley (123J11) rotates in the direction of the arrow L in FIG. 6A and the first jaw 121 is rotated together.

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

The auxiliary pulleys 123J16 and 123J26 contact the Article 1 wire 130J1 and the Article 2 wire 130J2 to change the arrangement path of the Article 1 wire 130J1 and the Article 2 wire 130J2 to a certain degree, It may serve to enlarge the turning radius of each of the first section 121 and the second section 122. That is, when the auxiliary pulley is not arranged as shown in FIG. 6B, each of the first and second articles 121 and 122 could be rotated only up to a right angle, but in an embodiment of the present invention, the auxiliary pulleys 123J16 and 123J26 By additionally providing, it is possible to obtain an effect of increasing the maximum rotation angle by θ as seen in FIG. 6A. This enables an operation in which the two jaws of the end tool 120 are rotated in the L direction 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. Likewise, the actuation operation is possible even when the two jaws rotate yaw in the R direction. In other words, through the configuration of the auxiliary pulleys (123J16, 123J26), it has a feature that can expand the range of yaw rotation in which an actuation operation is possible. This will be described in more detail as follows.

Referring to FIG. 6B, since the Article 1 wire 130J1 is fixedly coupled to the J11 pulley (not shown), and the 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 can rotate only up to the line M of FIG. 6B in the direction of the arrow L. In other words, the fixed coupling portion of the first wire 130J1 and the J11 pulley 123J11 and the first wire 130J1 can be rotated only up to a substantially right angle direction in which the first wire 130J1 is not separated. In this case, when the actuation operation is performed while Articles 1 121 and 2 122 are located on the M line in FIG. 6B, Article 1 121 may open in the R direction, The second jaw 122 cannot rotate beyond the M line in the L direction. Therefore, in a state in which the first and second articles 121 and 122 are performing the yaw motion at a predetermined angle or more, there is a problem that the actuation operation is not smoothly performed.

In order to solve such a problem, in the surgical instrument 100 according to an embodiment of the present invention, the auxiliary pulleys J16 pulleys 123J16 and J26 pulleys on one side of the J11 pulley 123J11 and J21 pulley 123J21 123J26) is further arranged. In this way, by disposing the J16 pulley (123J16) and the J26 pulley (123J26), by changing the arrangement path of the Article 1 wire (130J1) and Article 2 wire (130J2) to a certain degree, Article 1 wire (130J1) and Article 2 It is to change the tangent direction of the second wire (130J2), and thus, the fixed coupling portion of the second wire (130J2) and the J21 pulley (123J21) to rotate to the N line of Figure 6a. That is, the coupling portion of the second wire (130J2) and the J21 pulley (123J21) is rotatable until it is located on the common inscribed line of the J21 pulley (123J21) and J26 pulley (123J26). Likewise, the coupling part of the first wire (130J1) and 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), so that the rotation range is expanded in the R direction. Can be.

According to the present invention, the rotation radius of the first jaw 121 and the second jaw 122 is widened, so that the yaw motion range in which the normal opening/closing actuation operation can be performed can be increased.

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

On one side of the J21 pulley (123J21), a J22 pulley (123J22) and a J24 pulley (123J24) are disposed to face each other. Here, the J22 pulley (123J22) and the J24 pulley (123J24) are formed to be independently rotatable with respect to the direction of the end tool pitch rotation shaft (123PA). Further, on one side of each of the J22 pulleys 123J22 and the J24 pulleys 123J24, the J23 pulleys 123J23 and the 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 around the Y-axis direction. Here, in the drawing, J22 pulley (123J22), J23 pulley (123J23), J24 pulley (123J24) and J25 pulley (123J25) are all shown to be rotatable about the Y-axis direction, but the idea of the present invention The present invention is not limited thereto, and the rotation shafts of each pulley may be formed in various directions to suit the configuration.

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

Therefore, when the second wire (130J2) is pulled toward the arrow J2R of Figure 6a, the second wire (130J2) is pulley J23 (123J23), pulley J22 (123J22), pulley (123J21), J26 pulley (123J26) , The J24 pulley (123J24) and the J25 pulley (123J25) are rotated, and at this time, the J21 pulley (123J21) rotates in the direction of the arrow R of FIG. 6A to rotate the second jaw (122) together.

On the contrary, when the second wire (130J2) is pulled toward the arrow J2L of Fig. 6A, the second wire (130J2) is pulled J25 (123J25), pulley J24 (123J24), pulley J26 (123J26), pulley (123J21). , The J22 pulley (123J22) and the J23 pulley (123J23) are rotated, and at this time, the J21 pulley (123J21) rotates in the direction of the arrow L of FIG. 6A while rotating the second 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 (that is, the Article 1 wire 130J1 ), as shown in FIG. 5, the first wire (130J1) is lower of the J12 pulley (123J12) and J14 pulley (123J14) that can rotate around the end tool pitch rotation axis (123PA). Because it is wound, the J11 pulley (123J11) to which the first wire (130J1) is fixedly coupled, the first jaw (121), the jaw rotation shaft (123JA), the end tool hub (123a), and the second jaw (122) connected thereto The back is rotated in a counterclockwise direction around the end tool pitch rotation shaft 123PA as a whole, and as a result, the end tool 120 rotates downward to perform a pitch motion. At this time, Article 2 (122) and Article 2 wire (130J2) fixedly coupled thereto is upward of the J22 pulley (123J22) and J24 pulley (123J24) that can rotate around the end tool pitch rotation shaft (123PA). Because it is wound, both ends of the second wire 130J2 move in opposite directions of J2L and J2R, respectively.

On the contrary, if one end of the Article 2 wire 130J2 is pulled toward the arrow J2R of FIG. 6A, and at the same time, the other end of the Article 2 wire 130J2 is pulled toward the arrow J2L of FIG. 6A, as shown in FIG. Since the wire 130J2 is wound upwards of the J22 pulley (123J22) and the J24 pulley (123J24) that can rotate around the end tool pitch rotation shaft (123PA), the second set wire (130J2) is fixedly coupled to J21. The pulley (123J21), the second jaw (122), the jaw rotation shaft (123JA), the end tool hub (123a), and the first jaw (121) connected thereto are as a whole together in a clockwise direction around the end tool pitch rotation axis (123PA). As a result, the end tool 120 rotates upward and performs a pitch motion. At this time, the first wire 121 and the first wire 130J1 fixedly coupled thereto are lower of the J12 pulley 123J12 and the J14 pulley 123J14 that can rotate around the end tool pitch rotation shaft 123PA. Because it is wound, both ends of the first wire 130J1 move in opposite directions of J1L and 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), the operation unit 110 is further provided with 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 shaft 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 is 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 while holding the first handle 114 of the control unit 110 with his hand, the pitch combined with the first handle 114 The pulley rotates about 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, so that the pitch pulley 123P also rotates, As a result, the end tool 120 performs a pitch motion while rotating.

That is, the surgical instrument 100 according to the first embodiment of the present invention includes the pitch pulley 123P of the end tool 120, the pitch wire end pulley 115P of the operation unit 110, and the power transmission unit 130. By providing the pitch wire 130P, the driving force of the pitch operation of the pitch manipulation unit 111 is more completely 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, in the J21 pulley (123J21) in the Article 2 wire (130J2) is coupled, based on the J21 pulley (123J21) Article 2 wire (130J2) two wires Article 2 wire R (130J2R) ) And Article 2 wire L (130J2L), and then, one end of each wire (130J2R) (130J2L) is coupled to each J21 pulley (123J21). 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 made of the J21 pulley (123J21). 2 It is coupled to the coupling portion (123J21L).

At this time, the positions of the coupling portions 123J21R and 123J21L of the J21 pulley 123J21 are positions so that the wires 130J2R and 130J2L can overlap each other. Through this, it is possible to expand the limit of the rotation radius of the second bath 122 to 90° in FIG. 6B, and as a result, expand the rotation radius of the second bath 122 as shown in FIG. 6A.

Article 1 wire (130J1) can 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 turning radius of the first jaw (121). Through this, the yaw motion range in which the normal opening and closing actuation operation can be performed may be widened.

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

6D, in the J11 pulley (123J11) is coupled to the first wire (130J1), based on the J11 pulley (123J11) Article 1 wire (130J1) two wires Article 1 wire R (130J1R) ) And Article 1 wire L (130J1L), and then connect one end of each wire strand (130J1R) (130J1L) to the coupling member (123J11C) of each J11 pulley (123J11). At this time, the coupling member (123J21C) is formed on the opposite side of the Article 1 121 from the J11 pulley (123J11), and one end of the Article 1 wire R (130J1R) is coupled to one side of the coupling member (123J21C), and 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 so that the respective wires (130J1R, 130J1L) to be wound half a turn. Through this, it is possible to expand the limit of the rotation radius of the second bath 122 to 90° in FIG. 6B, and as a result, expand the rotation radius of the second bath 122 as shown in FIG. 6A.

Article 2 wire (130J2) can be fixedly coupled to the J21 pulley (123J21) in the same manner as in the above method, as a result, it is possible to expand the turning radius of the second jaw (122). Through this, the yaw motion range in which the normal opening and closing actuation operation can be performed may be widened.

(Operation part)

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

2 to 7, the operation 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. It includes an actuation control unit 113 that controls the actuation motion, a yaw control unit 112 that controls the yaw motion of the end tool 120, and a pitch control unit 111 that controls the pitch motion of the end tool 120. do.

First, when illustrating the state of use of the surgical instrument 100 of FIG. 2, the user rotates the first handle 114 on the Y axis (ie, the pitch rotation axis 1111) while holding the first handle 114 with the palm of the hand. ) To perform a pitch operation, and rotate the first handle 114 about the Z axis (ie, yaw rotation axis 1121) to perform the yaw motion. In addition, the user may perform an actuation operation by rotating the actuation manipulation unit 113 while inserting the thumb and index finger into the actuation manipulation unit 113.

Here, in the surgical instrument 100 according to the first embodiment of the present invention, when the operation unit 110 is rotated in any one direction with respect to the connection unit 140, the end tool 120 and the operation direction of the operation unit 110 It is characterized by intuitively rotating in the same direction. In other words, when the first handle 114 of the control 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 or yaw movement. Here, intuitively, the same direction may be further explained that the moving direction of the user's finger holding the manipulation unit 110 and the moving direction of the distal end of the end tool 120 substantially achieve the same direction. Of course, the same direction here may not be a direction that matches perfectly on the 3D 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 When moving downward, it will be understood that the distal end of the end tool 120 is also the same degree of moving downward.

And, for this purpose, in the surgical instrument 100 according to the first embodiment of the present invention, the operation unit 110 and the end tool 120 are based on a plane 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 direction of formation of the end tool 120 at one end of the connection part 140 and the direction of formation of the operation part 110 at the other end of the connection part 140 are the same direction based on the YZ plane. You could also say Alternatively, in other words, it may be said that the operation unit 110 is formed in a direction away from the user's body gripping it, that is, a direction in which the end tool 120 is formed. That is, the first handle 114 gripped and moved by the user for the actuation operation, yaw movement, and pitch movement, the actuation rotation parts 1132a, 1132b, etc., are moving parts to perform each operation. It is extended in the +X-axis direction from the center of rotation 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 extends in the +X-axis direction from the rotation center of each joint for the corresponding motion, and is described with reference to FIG. 1. Likewise, since the user's operation direction and the operation direction of the ent tool coincide with the viewpoint of the rotation direction and the viewpoint of the left and right direction, the same operation can be intuitively performed.

In detail, in the case of a conventional surgical instrument, since the direction in which the user manipulates the operation unit and the actual operation direction of the end tool are different from each other and do not intuitively coincide, intuitive operation is not easy for the operator, and the end tool is It takes a long time to be skilled to move in a desired direction, and in some cases, there is a problem that a malfunction may occur and cause damage to the patient.

In order to solve such a problem, 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. Hazard control unit 110, like the end tool 120, characterized in that the part that is actually moved for the actuation motion, yaw motion, pitch motion is formed extending in the +X-axis direction than the rotation center of the corresponding joint of each motion. do. This will be described in more detail as follows.

The first handle 114 is formed to be gripped by a user by hand, and in particular, may be formed to allow the user to wrap and hold the first handle 114 with his or her palm. And, the first handle 114 is formed on the actuation operation unit 113 and the yaw operation unit 112, the yaw operation unit 112 is formed with a pitch operation unit 111 on one side. In addition, the other end of the pitch manipulation part 111 is connected to the bent part 141 of the connection part 140.

The actuation operation unit 113 includes a first actuation operation unit 113a and a second actuation operation unit 113b. The first actuation control 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 control unit 113b includes a second actuation rotation shaft 1131b, a second actuation rotation unit 1132b, a second actuation pulley 113P2, and a second actuation gear 1134b. Here, the first actuation rotation unit 1132a and the second actuation rotation unit 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 in which the connection part 140 is formed. For example, the actuation rotation shafts 1131a and 1131b may be formed in a direction parallel to the Z-axis, and when the pitch control unit 111 or the yaw control unit 112 rotates in this state, the actuation control unit 113 The coordinate system of) can be changed relatively. Of course, the spirit of the present invention is not limited thereto, and by ergonomic design, the actuation rotation shafts 1131a and 1131b are formed in various directions to suit the user's hand structure holding the actuation control unit 113 Can be.

On the other hand, the first actuation rotation unit (1132a), the first actuation pulley (113P1), the first actuation gear (1134a) are fixedly coupled to each other, formed so as to be able to rotate together around the first actuation axis of rotation (1131a). Can be. Here, the first actuation pulley 113P1 may be composed of one pulley, or may be composed of two pulleys fixedly coupled to each other.

Likewise, the second actuation rotation part 1132b, the second actuation pulley 113P2, and the second actuation gear 1134b are fixedly coupled to each other, so that they can rotate together around the second actuation rotation shaft 1131b. Can be. Here, the second actuation pulley 113P2 may be composed of one pulley, or may be composed of two pulleys fixedly coupled to each other.

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

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

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

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

Here, the yaw rotation shaft 1121 may be formed to form a predetermined angle with the XY plane in which the connection part 140 is formed. For example, the yaw rotation axis 1121 may be formed in a direction parallel to the Z axis, and when the pitch control unit 111 rotates in this state, the coordinate system of the yaw rotation axis 1121 may change relatively as described above. I 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 user's hand structure holding the manipulation unit 110.

On the other hand, Article 1 yaw pulley (112P1) and Article 2 yaw pulley (112P2) are coupled to the yaw rotation shaft 1121 so as to be rotatable about the yaw rotation shaft 1121. In addition, the Article 1 wire (130J1) may be wound on the Article 1 yo pulley (112P1), and the Article 2 wire (130J2) may be wound on the Article 2 yo pulley (112P2). At this time, Article 1 yaw pulley (112P1) and Article 2 yaw pulley (112P2) is formed to face each other may be composed of two pulleys independently rotatable. Therefore, the wound wire and the wound wire can be wound on separate pulleys, 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, so that the first handle 114 and the yaw control unit ( 112) and the actuation control unit 113 can rotate integrally around the yaw rotation shaft 1121.

The pitch control unit 111 includes a pitch rotation shaft 1111, a first pitch pulley-a (111P1a), a first pitch pitch pulley-b (111P1b), and a second pitch pitch pulley-a (111P2a), It may include a pair of two pitch pulley-b (111P2b) and a pitch frame (pitch frame) 1113. In addition, the pitch control unit 111 includes the first pitch auxiliary pulley-a (111S1a) formed on one side of the first pitch pulley-a (111P1a), and the first pitch auxiliary pulley-a (111S1a) formed on one side of the first pitch pulley-b (111P1b). The first pitch auxiliary pulley-b(111S1b), the second pitch auxiliary pulley-a(111S2a) formed on one side of the second row pitch pulley-a(111P2a), and the second group pitch pulley-b(111P2b) A second jaw pitch auxiliary pulley-b (111S2b) formed on one side may be further included. The pitch manipulation part 111 is connected to the bent part 141 of the connection part 140 through the pitch rotation shaft 1111.

In detail, the pitch frame 1113 becomes the base frame of the pitch control unit 111, and the yaw rotation shaft 1121 is rotatably coupled to one end. 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, so when the pitch frame 1113 rotates around the pitch rotation shaft 1111, the yaw frame 1123 connected to the pitch frame 1113, the first handle 114, and the yaw rotation shaft (1121), the first actuation rotation shaft (1131a), the second actuation rotation shaft (1131b) are rotated together. That is, when the pitch manipulation part 111 rotates about the pitch rotation shaft 1111, the actuation manipulation part 113 and the yaw manipulation part 112 rotate together with the pitch manipulation part 111. In other words, when the user pitch-rotates the first handle 114 around the pitch rotation shaft 1111, the actuation control unit 113, the yaw control unit 112, and the pitch control unit 111 move together.

The pitch frame 1113 includes a pitch rotation shaft 1111, a first pitch pulley-a (111P1a), a first pitch pitch pulley-b (111P1b), a second pitch pulley-a (111P2a), and a second pitch. The jaw pitch pulley-b (111P2b) is engaged. At this time, the first group pitch pulley-a(111P1a), the first group pitch pulley-b(111P1b), the second group pitch pulley-a(111P2a), and the second group 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, the first jaw pitch pulley-a (111P1a) and the first jaw pitch pulley-b (111P1b) may be formed to face each other so as to be independently rotatable. Therefore, the wound wire and the wound wire can be wound on separate pulleys, so that they can operate without interfering with each other. Similarly, the second jaw pitch pulley-a (111P2a) and the second jaw pitch pulley-b (111P2b) may also be formed to face each other so as to be independently rotatable. Therefore, the wound wire and the wound wire can be wound on separate pulleys, so that they can operate without interfering with each other.

Referring to FIG. 7(b), the pitch wire end pulley 115P is fixedly coupled to the pitch frame 1113 and is formed to rotate together. In addition, the pitch wire 130P is fixedly coupled to the pitch frame 1113 through the pitch wire auxiliary pulley 115S and the pitch wire end pulley 115P. As a result, the pitch frame 1113 and the pitch wire end pulley 115P may rotate together about the pitch rotation shaft 1111 by pitch rotation.

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

In the end tool 120, a pitch pulley (123P) is formed by being fixedly coupled to the end tool hub (123a), and a pitch wire end pulley (115P) is formed in the operation unit 110, and they are connected to each other by a pitch wire (130P). As a result, the pitch operation of the end tool can be performed more easily 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 around the pitch rotation shaft 1111 due to the pitch rotation of the control unit, and as a result, both sides of the pitch wire 130P also move in opposite directions. Thus, it is possible to transmit the power of additional pitch rotation separately from the pitch operation of the end tool by the Article 1 wire 130J1 and Article 2 wire 130J2.

The first handle 114, the pitch control unit 111, the yaw control unit 112, the actuation control unit 113, respectively, to summarize the connection relationship between each of the following. Actuation rotation shafts 1131a and 1131b, yaw rotation shaft 1121 and pitch rotation shaft 1111 may be formed on the first handle 114. At this time, since the actuation rotation shafts 1131a and 1131b are directly formed on the first handle 114, the first handle 114 and the actuation control unit 113 may be directly connected. Meanwhile, since the yaw rotation shaft 1121 is directly formed on the first handle 114, the first handle 114 and the yaw operation unit 112 may be directly connected. On the other hand, since the pitch manipulation part 111 is formed to be connected to the yaw manipulation part 112 on one side of the yaw manipulation part 112, the pitch manipulation part 111 is not directly connected to the first handle 114, but the pitch manipulation part The (111) and the first handle (114) may be formed to be indirectly connected through the yaw operation 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 120 are the same or parallel axes (X axis) It can be formed on. That is, a pitch rotation shaft 1111 of the pitch manipulation part 111 is formed at one end of the bent part 141 of the connection part 140, and an end tool 120 is formed at the other end of the connection part 140. It becomes.

In addition, one or more intermediate pulleys MP for changing or guiding the paths of the wires may be disposed in the middle of the connection part 140, particularly in the bent part 141. At least some of the wires are wound around the intermediate pulleys MP to guide the paths of the wires, so that the wires can be arranged along the bent shape of the bent portion 141.

Here, in the drawings, the connection part 140 is shown to be curved to have a predetermined curvature by having a bent part 141, but the spirit of the present invention is not limited thereto, and the connection part 140 is Or it may be formed by bending one or more times, and even in this case, it can be said that the pitch control unit 111 and the end tool 120 are formed on substantially the same or parallel axes. will be. In addition, although it is shown in FIG. 3 that the pitch control 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 control unit ( 111) and the end tool 120 may be formed on different axes.

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

First, the actuation operation is as follows.

In a state where the user inserts the index finger into the first actuation rotation unit 1132a and the thumb on the second actuation rotation unit 1132b, the actuation rotation unit 1132a, 1132b ), the first actuation pulley 113P1 and the first actuation gear 1134a fixedly coupled to the first actuation rotation unit 1132a rotate around the first actuation rotation shaft 1131a, and 2 The second actuation pulley 1133b and the second actuation gear 1134b fixedly coupled with the actuation rotation unit 1132b rotate around the second actuation rotation shaft 1131b. At this time, the first actuation pulley (113P1) and the second actuation pulley (113P2) are rotated in opposite directions, and thus, one end of the first actuation pulley (113P1) is fixedly coupled to the first wire (130J1) wound. ) And the second actuation pulley (113P2) with one end fixedly coupled to the wound Article 2 wire (130J2) is also moved in the opposite direction to each other. Then, such a rotational force is transmitted to the end tool 120 through the power transmission unit 130, so that the two jaws 121 and 122 of the end tool 120 perform an actuation operation. Here, the actuation operation refers to an operation of opening or closing the jaws 121 and 122 while rotating the two jaws 121 and 122 in opposite directions as described above. That is, when the actuation rotation units 1132a and 1132b of the actuation control unit 113 are rotated in a direction closer to 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 control unit 113 are rotated in a direction away from each other, the first jaw 121 is clockwise The second jaw 122 rotates in a counterclockwise direction while the end tool 120 is opened. In this embodiment, for the above-described actuation manipulation, a second handle was formed by including a first actuation rotation part 1132a and a second actuation rotation part 1132b, and two fingers were gripped to be operated. However, the configuration of the actuation control unit 113 for operating the two jaws of the end tool 120 to open and close each other is, unlike the above, the two actuation pulleys (first actuation) as one actuation rotation unit. Other modifications such as a configuration in which the pulley 113P1 and the second actuation pulley 113P2 operate in opposite directions may be sufficiently possible.

Next, the yaw operation is as follows.

When the user rotates the first handle 114 around the yaw rotation shaft 1121 while holding the first handle 114, the actuation control unit 113 and the yaw control unit 112 rotate the yaw rotation shaft 1121. It makes yaw rotation around the center. That is, when the first actuation pulley 113P1 of the first actuation control unit 113a to which the Article 1 wire 130J1 is fixedly coupled is rotated around the yaw rotation shaft 1121, the Article 1 yaw pulley ( Article 1 wire (130J1) wound around 112P1) is moved. Similarly, when the second actuation pulley 113P2 of the second actuation control unit 113b to which the Article 2 wire 130J2 is fixedly coupled is rotated around the yaw rotation shaft 1121, the Article 2 yaw pulley ( Article 2 wire (130J2) wound around 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) to rotate in the same direction. In addition, such a rotational force is transmitted to the end tool 120 through the power transmission unit 130, so that the two jaws 121 and 122 of the end tool 120 rotate in the same direction. Perform.

At this time, since 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 The operation part 112 and the actuation operation part 113 rotate together about the yaw rotation shaft 1121.

Next, the pitch operation is as follows.

When the user rotates the first handle 114 around the pitch rotation shaft 1111 while holding the first handle 114, the actuation control unit 113, the yaw control unit 112, and the pitch control unit 111 The pitch rotation is performed around the pitch rotation shaft 1111. That is, when the first actuation pulley 113P1 of the first actuation control unit 113a to which the first set wire 130J1 is fixedly coupled is rotated about the pitch rotation shaft 1111, the first set pitch pulley- The first wire (130J1) wound around a (111P1a) and the first pitch pulley-b (111P1b) is moved. Likewise, when the second actuation pulley 113P2 of the second actuation control unit 113b to which the second wire 130J2 is fixedly coupled is rotated about the pitch rotation shaft 1111, the second set pitch pulley- The second wire (130J2) wound around the a(111P2a) and the second pitch pulley-b(111P2b) is moved. At this time, as described with reference to FIG. 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 can be rotated, Article 1 wire (130J1) and Article 2 wire (130J2) is Article 1 pitch pulley (111P1a, 111P1b) and Article 2 pitch pulley ( 111P2a, 111P2b). In addition, such a rotational force is transmitted to the end tool 120 through the power transmission unit 130, so that the two jaws 121 and 122 of the end tool 120 perform a pitch operation.

At this time, the pitch frame 1113 is connected to the yaw frame 1123, and the yaw frame 1123 has a first handle 114, a yaw rotation shaft 1121, a first actuation rotation shaft 1131a, and a second actuation rotation shaft ( 1131b), so when the pitch frame 1113 rotates about the pitch rotation shaft 1111, the yaw frame 1123 connected to the pitch frame 1113, the first handle 114, the yaw rotation shaft 1121, and The 1 actuation rotation shaft 1131a and the second actuation rotation shaft 1131b rotate together. That is, when the pitch manipulation part 111 rotates about the pitch rotation shaft 11111, the actuation manipulation part 113 and the yaw manipulation part 112 rotate together with the pitch manipulation part 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 the pulley has a wire (Article 1 wire or 2 The jaw wire) is wound, and the rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes the movement of each wire, resulting in a desired motion of the end tool 120. Furthermore, auxiliary pulleys may be formed on one side of each pulley, and the wire may not be wound multiple times on one pulley by these auxiliary pulleys.

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

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

In addition, the operation unit 110 includes a second actuation pulley (113P2) related to the rotational motion of Article 2 (jaw) (122), Article 2 yaw pulley (112P2), Article 2 yaw auxiliary pulley (112S2), Article 2 A second group pitch pulley-a (111P2a), a second group pitch pulley-b (111P2b), a second group pitch auxiliary pulley-a (111S2a), and a second group pitch auxiliary pulley-b (111S2b) may be included. (Because the arrangement and configuration of each pulley in the operation unit 100 is in principle the same as the arrangement and configuration of each pulley in the end tool 120, specific reference numerals in the drawings are 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 yaw rotation shaft (1121). In this case, the Article 1 yo pulley 112P1 and the Article 2 yo pulley 112P2 may be formed of two pulleys that are formed to face each other and are independently rotatable.

Article 1 yaw auxiliary pulley (112S1) and Article 2 yaw auxiliary pulley (112S2) may be formed to be rotatable independently of each other around the same axis. At this time, the Article 1 yo auxiliary pulley (112S1) may be formed of two pulleys that are formed to face each other so as to be independently rotatable, and at this time, the two pulleys may be formed to have different diameters. Similarly, Article 2 yo auxiliary pulley (112S2) may be formed of two pulleys that are formed to face each other so as to be independently rotatable, and at this time, 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 around the center. In this case, the first pitch auxiliary pulley-a (111S1a) and the first pitch auxiliary pulley-b (111S1b) may be formed to have different diameters. In addition, the second jaw pitch auxiliary pulley-a (111S2a) and the second jaw pitch auxiliary 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, the pitch rotation shaft (1111) ) Can be formed to be rotatable independently of each other around the center.

Article 1 wire (130J1), Article 1 pitch pulley-a (111P1a), Article 1 pitch auxiliary pulley-a (111S1a), Article 1 required auxiliary pulley (112S1), Article 1 required After passing through the pulley (112P1) in turn and winding it around the first actuation pulley (113P1), Article 1 yaw pulley (112P1), Article 1 yaw auxiliary pulley (112S1), Article 1 pitch auxiliary pulley-b (111S1b) , It is formed so as to pass through the first group pitch pulley-b (111P1b) in sequence, and the first group driving wire 130J1 is formed to move along the pulleys while rotating the pulleys. At this time, the first wire (130J1) may be fixedly coupled to one point of the first actuation pulley (113P1).

Article 2 wire (130J2), Article 2 pitch pulley-a (111P2a) of the control unit 110, Article 2 pitch auxiliary pulley-a (111S2a), Article 2 auxiliary pulley (112S2), Article 2 required After passing through the pulley (112P2) in turn and winding it on the second actuation pulley (113P2), Article 2 yaw pulley (112P2), Article 2 yaw auxiliary pulley (112S2), Article 2 pitch auxiliary pulley-b (111S2b) , The second group pitch pulley-b (111P2b) is formed to pass sequentially, and the second group wire 130J2 is formed to move along the pulleys while rotating the pulleys. At this time, the second wire (130J2) may be fixedly coupled to one point of the second actuation pulley (113P2).

FIG. 9 is a diagram showing the configuration of pulleys and wires related to the actuation and yaw movements of the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 7 by loosening for each of Articles 1 and 2 to be. 9(a) is a view showing only the pulleys and wires related to the second set, and FIG. 9(b) is a view showing only the pulleys and wires related to the first set. And, Figure 10 is a perspective view showing the yaw operation of the instrument for surgery of Figure 7.

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

9(b), when the first actuation rotation unit 1132a rotates in the direction of the arrow OPA1 around the first actuation rotation axis 1131a, the first actuation rotation unit 1132a is connected to the first actuation rotation unit 1132a. The pulley 113P1 rotates, and both strands of the Article 1 wire 130J1 wound around the first actuation pulley 113P1 move in the directions W1a and W1b, respectively, and as a result, the first set 121 of the operation unit Will rotate in the direction of the arrow EPA1.

Referring to FIG. 9(a), when the second actuation rotation unit 1132b rotates in the direction of the arrow OPA2 around the second actuation rotation axis 1131b, the second actuation rotation unit 1132b is connected to the second actuation rotation unit 1132b. The pulley 113P2 rotates, and both strands of the Article 2 wire 130J2 wound around the second actuation pulley 113P2 move in the directions W2a and W2b, respectively, and as a result, the second set 122 of the operation unit Will rotate in the direction of the arrow EPA2. Therefore, when the user manipulates the first actuation rotation unit 1132a and the second actuation rotation unit 1132b in a direction closer to each other, the first and second sets of the end tools 121 and 122 become closer to each other. This is done.

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

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

9(b), when the first handle 114 is rotated in the direction of the arrow OPY1 around the yaw rotation axis 1121, the first actuation pulley 113P1 and Article 1 yaw pulley 112P1 Article 1 wire (130J1) wound around the entire yaw rotation axis (1121), as a result, both strands of Article 1 wire (130J1) wound around Article 1 yaw pulley (112P1) W1a, respectively, It moves in the direction W1b, and as a result, the first jaw 121 of the end tool 120 rotates in the direction of the arrow EPY1.

9(a), when the first handle 114 is rotated in the direction of the arrow OPY2 around the yaw rotation axis 1121, the second actuation pulley 113P2 and Article 2 yaw pulley 112P2 Article 2 wire (130J2) wound around the entire yaw rotation axis (1121) is rotated, as a result, both strands of Article 2 wire (130J2) wound on Article 2 yaw pulley (112P2) is each W1a It moves to the opposite side and the opposite side of W1b, and as a result, the first set 121 of the end tool 120 rotates in the direction of the arrow EPY2.

FIG. 11 is a diagram illustrating the configuration of pulleys and wires related to the pitch operation of the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 7 by loosening for each of the first and second sets. FIG. 11(a) is a view showing only pulleys and wires related to the second set, and FIG. 11(b) is a view showing only pulleys and wires related to the first set. As shown in Fig. 8, there are two pulleys associated with the pitch operation, and both strands of each wire are wound in the same path, and thus, in Fig. 11, this is expressed as a single line. And, FIG. 12 is a perspective view showing the pitch operation of the surgical instrument of FIG. 7.

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

Referring to FIG. 11(a), when the first handle 114 is rotated in the direction of the arrow OPP2 around the pitch rotation shaft 1111, the second actuation pulley 113P2, the second pitch auxiliary pulley 111S2a, 111S2b ), the second set of pitch pulleys 111P2a and 111P2b, and the second set of wires 130J2 wound thereon rotate around the pitch rotation shaft 1111 as a whole. At this time, as shown in Fig. 8, both strands of the second wire 130J2 are wound under the second set of pitch pulleys 111P2a and 111P2b, and thus move toward the arrow W2. As a result, as described through FIG. 5, the second jaw 122 of the end tool 120 rotates in the direction of the arrow EPP2.

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

As described with reference to FIG. 1, the actuation control unit 113, the yaw control unit 112, and the pitch control unit 111 are configured in the same manner as the joint configuration of the end tool by positioning their rotation axis at the rear of each operation unit. It is possible to intuitively perform matching operations.

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 wired (Article 1 wire or Article 2). Wire) is formed to be wound, and the rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes movement of each wire, and as a result, a desired motion of the end tool 120 is induced. Furthermore, auxiliary pulleys may be formed on one side of each pulley, and by these auxiliary pulleys, the wire may not be wound multiple 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 wound wire is also formed safely, so that the safety and efficiency of power transmission of the wire can be improved.

Meanwhile, as described above, the yaw operation unit 112 and the actuation operation unit 113 are formed directly on the first handle 114. Therefore, when the first handle 114 rotates about the pitch rotation shaft 1111, the yaw operation unit 112 and the actuation operation unit 113 are also rotated together with the first handle 114. For this reason, the coordinate system of the yaw operation unit 112 and the actuation operation unit 113 is not fixed, but relatively continuously changes according to the rotation of the first handle 114. That is, in FIG. 2 and the like, the yaw operation unit 112 and the actuation operation unit 113 are shown to be parallel to the Z axis. However, when the first handle 114 is rotated, the yaw operation unit 112 and the actuation operation unit 113 are not parallel to the Z axis. That is, the coordinate system of the yaw operation unit 112 and the actuation operation unit 113 is changed according to the rotation of the first handle 114. However, in the present specification, for convenience of explanation, unless otherwise described, the coordinate system of the yaw operation unit 112 and the actuation operation unit 113 is as shown in FIG. 2, in which the first handle 114 is connected to the connection unit 140. It was described based on the vertical position.

<Various variations of joints>

The joint structure consisting of a main joint pulley and an additional auxiliary pulley for yaw rotation or pulley rotation can be divided into a direct joint and an indirect joint because different modifications are possible according to the configuration of the two.

(Direct joint and indirect joint-yaw joint)

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

Here, the direct joint is a configuration including two pulleys adjacent to each other for one joint motion, in the relationship between the pulley corresponding to the joint position and the auxiliary pulley, when the joint portion rotates with respect to the rotation axis of the joint portion, The auxiliary pulley does not rotate based on the rotation axis of the joint part, but refers to a case where only the pulley corresponding to the joint position rotates based on the rotation axis of the joint part. On the other hand, the indirect joint refers to a case where, 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, FIG. 13 showing a direct joint is provided with Article 1 yaw pulley (112P1) and Article 1 yaw auxiliary pulley (112S1) formed adjacent to each other for yaw movement of Article 1 (121), and yaw rotation shaft A pulley located on the (1121) and rotating around the yaw rotation axis (1121) when rotating the yaw, located on the left side of the drawing, becomes the Article 1 yaw pulley (112P1). At this time, Article 1 yaw auxiliary pulley (112S1) is located on the right side of the drawing, does not rotate around the yaw rotation axis (1121) when the yaw rotation.

On the other hand, Figure 14 showing an indirect joint 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), and yaw rotation shaft A pulley located on the (1121) position and rotating around the yaw rotation axis (1121) during yaw rotation, located on the right side of the drawing, becomes the Article 1 yaw pulley (112P1). At this time, Article 1 yaw auxiliary pulley (112S1) is located on the left side of the drawing, rotates about the yaw rotation axis (1121) when the yaw rotation.

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

As described above, depending on which method of the direct joint and the indirect joint to configure the joint structure, it is possible to obtain the effect of configuring the moving directions of the wires in opposite directions for the same direction of yaw rotation.

(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 pulleys and wires related to the second set, and FIGS. 15(b) and 16(b) are views showing only the pulleys and wires related to the first set.

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

Fig. 16(b) showing a direct joint shows the first group pitch pulley-a(111P1a) and the first group pitch auxiliary pulley-a(111S1a) formed adjacent to each other for the pitch movement of the first group 121 In this case, the pulley located on the left side of the drawing becomes the first pitch pulley-a (111P1a).

In this way, depending on whether the joint structure is composed of a direct joint or an indirect joint, it is possible to obtain the effect of configuring the moving directions of the wires in opposite directions for the same direction of pitch rotation, and through this, the wire to the pitch pulley. It is also possible to change the direction of winding.

(Various variations of pulley and wire configuration)

The pulley and wire configuration related to the actuation operation and yaw movement 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 part and the end tool configuration. It may have various modifications through modifications such as. Hereinafter, various modifications of the possible pulley and wire configurations will be described.

FIG. 17 is a diagram showing a configuration of a pulley and a wire related to the operation of the first section 121 of the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 9 and modifications thereof.

Referring to FIG. 17(a), the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 17(a) basically does not cross wires within the connection part 140. That is, in the connection part 140 connecting the end tool 120 and the operation unit 110, both strands of the first wire 130J1 are formed without crossing each other, and the second wire 130J2 is also The two strands are formed without intersecting each other.

On the other hand, the surgical instrument 100 according to an embodiment of the present invention shown in Figure 17 (a) is formed so that each wire spreads within the connection portion 140. That is, due to the size and spacing of the intermediary pulleys, the spacing between both strands of the first wire (130J1) in the end tool 120 is connected by the intermediary pulley (MP) and is formed smaller than the spacing between the two strands. , As the end tool 120 goes toward the intermediate pulley, the distance between the two strands of the first wire (130J1) gradually increases, so that the first wire (130J1) as a whole is formed to spread.

Meanwhile, in the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 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 yaw auxiliary pulley (112S1) formed adjacent to each other for the yaw movement of Article 1 (121), at this time on the left The pulley located at becomes the Article 1 yaw pulley (112P1), and the rotation axis of the Article 1 yaw pulley (112P1) becomes the yaw rotation axis. At this time, the Article 1 yo auxiliary pulley (112S1) may be formed of two pulleys that are formed to face each other so as to be independently rotatable, and at this time, the two pulleys may be formed to have different diameters. At this time, the Article 1 yaw pulley (112P1) and Article 1 yaw auxiliary pulley (112S1) crossing the wires do not overlap each other in 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 the first wire (130J1) have a height difference. And, for this purpose, the pitch auxiliary pulley has two pulleys having different diameters (the first pitch auxiliary pulley-a (111S1a) and the first pitch auxiliary pulley-b (111S1b)), so that the pulley having a height difference It is configured so that the first wire (130J1) is naturally wound around the field.

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

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

In the case of FIG. 17(d), the configuration of the first jaw 121 and the J11 pulley 123J11 is different, and the first jaw 121 is formed in a direction different from that of FIG. 17(a), In this case, the rotation direction of the first jaw 121 for yaw motion is the same as in FIG. 17(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is shown in FIG. 17(a). ) And the opposite. To this end, the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) are used to move the Article 1 wire 130J1, contrary to FIG. 17(a), in the operation of the first actuation control unit 113a. It may be configured such that the connecting Article 1 wires 130J1 cross each other.

In this configuration, two yaw pulleys, two yaw auxiliary pulleys, two pitch pulleys, and two pitch auxiliary pulleys can be formed, and the wires that are seen intersecting in the drawing are actually located on different paths and are physically contacted. 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 motion of Article 1, and the drawings are also for the description of the actuation and yaw motion of Article 1, and it is possible to fully understand without a description of the pulley related to the intermediate pulley and the pitch operation. In this drawing, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, since Article 2 can be sufficiently understood through the drawings and description of Article 1, drawings and descriptions 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 of a wire path and the like in FIG. 17.

In the case of FIG. 18(a), unlike the configuration according to the first embodiment, both strands of the first wire 130J1 configured to wind the first wire 121 pass through the two connecting part intermediate pulleys MP adjacent to each other. It is a modified example configured to, and the configuration of the Article 1 yaw auxiliary pulley (112S1) is modified to enable the same operation as the configuration according to the first embodiment.

To this end, pitch auxiliary pulleys of different sizes through which the first wire (130J1) passes (the first pitch auxiliary pulley-a (111S1a) and the first pitch auxiliary pulley-b (111S1b)) are arranged adjacent to each other. It was formed, and Article 1 wire (130J1) passing through Article 1 pitch auxiliary pulley-a (111S1a) is configured to be wound around Article 1 yaw auxiliary pulley (112S1), and Article 1 pitch auxiliary pulley-b (111S1b) ) Passing through Article 1 wire (130J1) is formed to be wound directly on Article 1 yaw pulley (112P1) without being wound on the yaw auxiliary pulley, through which the modified example described in Fig. 18(a) is the first implementation The same operation as the example is possible. The configuration according to FIG. 18A may have various modifications through modifications such as the path of the wire, the size and arrangement of the joint pulley, the configuration of the operation unit and the end tool.

In the case of Fig. 18(b), the size of the pitch auxiliary pulley connected to the yaw auxiliary pulley is different from that of Fig. 18(a), and as shown in the figure below of Fig. 18(b), the first pitch auxiliary pulley-a ( 111S1a) and the first pitch auxiliary pulley-b (111S1b) may be arranged so that the height of the wire wound is opposite, as a result of the Article 1 wire 130J1 compared to FIG. 18(a). It can be configured so that the relationship between the two strands is opposite. In the case of Fig. 18(c), the actuation control unit 113a for driving in Article 1 is configured differently from the case of Fig. 18(a), and the end tool by the actuation operation and yaw operation in the operation unit 110 In order to perform the operation of 120 in the same manner as in FIG. 18(a), the 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 the first jaw 121 and the J11 pulley 123J11 is different, and the first jaw 121 is formed in a direction different from that of FIG. 18(a), At this time, the rotation direction of the first jaw 121 for yaw motion is the same as in FIG. 18(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is shown in FIG. 18(a). ) And the opposite. To this end, the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) are used to move the Article 1 wire 130J1, contrary to FIG. 18(a), in the operation of the first actuation control unit 113a. It may be configured such that the connecting Article 1 wires 130J1 cross each other.

In this configuration, two yaw pulleys, one yaw auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys can be formed, and the wires that are seen intersecting in the drawing are actually located on different paths and are physically contacted. 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 motion of Article 1, and the drawings are also for the description of the actuation and yaw motion of Article 1, and it is possible to fully understand without a description of the pulley related to the intermediate pulley and the pitch operation. In this drawing, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, since Article 2 can be sufficiently understood through the drawings and description of Article 1, drawings and descriptions 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 of a wire path in FIG. 17.

In the case of FIG. 19(a), unlike the configuration according to the first embodiment, the first wires 130J1 configured to wind the first wire 121 cross each other so that two connection part mediation pulleys adjacent to each other (MP ) Is a modified example configured to pass through, and the configuration of the Article 1 yaw auxiliary pulley 112S1 is modified to enable the same operation as the configuration according to the first embodiment.

Further, in the case of FIG. 19(a), unlike the configuration according to the first embodiment, the wires cross at least once in the connection part 140. That is, in the connection part 140 connecting the end tool 120 and the operation unit 110, both strands of the first wire 130J1 are formed to cross each other, and the second wire 130J2 is also Are formed to cross each other. However, when viewed from the two-dimensional plane on the drawing, both strands of each wire seem to cross each other, but through the proper positioning of the intermediary pulleys to which the actual wire is connected, it is easy to prevent the wire from physically contacting. Configurable.

On the other hand, the first group pitch auxiliary pulley-a (111S1a) and the first group pitch auxiliary pulley-b (111S1b) are formed to have the same diameter, and the first group wire wound around the first group 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 the Article 1 wire (130J1) wound around the Article 1 pitch auxiliary pulley-a (111S1a), it may be formed to be wound directly on the Article 1 yaw pulley (112P1) without a yaw auxiliary pulley, through which, The modified example described in 19(a) can perform the same operation as the first embodiment.

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

In the case of Fig. 19(b), the size of the pitch auxiliary pulley connected to the yaw auxiliary pulley is different from that of Fig. 19(a), and the first pitch auxiliary pulley-a(111S1a) and the first group pitch auxiliary pulley- By forming different diameters of b(111S1b), the two pulleys of Article 1 yaw pulley 112P1 can be positioned at different heights as shown in the figure below of FIG. 19(b). This is easily applied to a configuration in which the 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, It is possible to make sure that both sides of (130J1) have no physical contact.

In the case of Fig. 19(c), the actuation control unit 113a for driving in Article 1 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 perform the operation of 120 in the same manner as in FIG. 19(a), the 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 the first jaw 121 and the J11 pulley 123J11 is different, and the first jaw 121 is formed in a direction different from that of FIG. 19(a), In this case, the rotation direction of the first jaw 121 for yaw motion is the same as that of FIG. 19(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is shown in FIG. 19(a). ) And the opposite. To this end, the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) are used to move the Article 1 wire 130J1, contrary to Fig. 19(a), in the operation of the first actuation control unit 113a. It may be configured such that the connecting Article 1 wires 130J1 cross each other.

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

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

The above description is for the actuation and yaw motion of Article 1, and the drawings are also for the description of the actuation and yaw motion of Article 1, and it is possible to fully understand without a description of the pulley related to the intermediate pulley and the pitch operation. In this drawing, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, since Article 2 can be sufficiently understood through the drawings and description of Article 1, drawings and descriptions of Article 2 will be omitted.

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

In the case of Fig. 20(a), unlike the configuration according to the first embodiment, two connecting part mediation pulleys that are not adjacent to each other because both strands of the first wire 130J1 configured to wind the first wire 121 cross each other. This is a modified example configured to pass through (MP), and the configuration of the Article 1 yaw auxiliary pulley 112S1 is modified to enable the same operation as the configuration according to the first embodiment.

Further, in the case of FIG. 20(a), unlike the configuration according to the first embodiment, the wires cross at least once in the connection part 140. That is, in the connection part 140 connecting the end tool 120 and the operation unit 110, both strands of the first wire 130J1 are formed to cross each other, and the second wire 130J2 is also Are formed to cross each other. However, when viewed from a two-dimensional plane on the drawing, both strands of each wire seem to cross each other, but through the proper three-dimensional configuration of the intermediary pulleys to which the actual wire is connected, it is easily configured so that the wire does not physically contact. can do.

In addition, pitch auxiliary pulleys of different sizes (the first pitch auxiliary pulley-a (111S1a) and the first pitch auxiliary pulley-b (111S1b)) were formed, and the outer pitch auxiliary pulley, the first pitch auxiliary pulley -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.

Meanwhile, 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). The pulley located at becomes the Article 1 yaw pulley (112P1), and the rotation axis of the Article 1 yaw pulley (112P1) becomes the yaw rotation axis. In this case, in order to perform the actuation operation of the operation unit 110 and the operation of the end tool due to the yaw operation in the same manner as in Fig. 17(a), Article 1 yaw auxiliary pulley 112S1 and the first actuation pulley ( Article 1 wires 130J1 connecting 113P1) may be configured to cross each other.

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

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

In the case of Fig. 20(c), the actuation operation unit 113a for driving in Article 1 is configured differently from the case of Fig. 20(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. 20(a), the Article 1 wire 130J1 connecting the Article 1 yaw auxiliary pulley 112S1 and the first actuation pulley 113P1 does not cross each other. Can be configured not to.

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

In this configuration, two yaw pulleys, two yaw auxiliary pulleys, two pitch pulleys, and two pitch auxiliary pulleys can be formed, and the wires that are seen intersecting in the drawing are actually located on different paths and are physically contacted. 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 motion of Article 1, and the drawings are also for the description of the actuation and yaw motion of Article 1, and it is possible to fully understand without a description of the pulley related to the intermediate pulley and the pitch operation. In this drawing, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, since Article 2 can be sufficiently understood through the drawings and description of Article 1, drawings and descriptions 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 of a wire path and the like in FIG. 17.

In the case of FIG. 21(a), unlike the configuration according to the first embodiment, the first wire (130J1) configured to wind the first wire (121) crosses each other so that two connection part mediation pulleys adjacent to each other (MP ) Is a modified example configured to pass, and Article 2 wire (130J2) is also formed so that both strands cross each other.

On the other hand, the first group pitch auxiliary pulley-a (111S1a) and the first group pitch auxiliary pulley-b (111S1b) are formed to have the same diameter, and the first group wire wound around the first group 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 the Article 1 wire (130J1) wound around the Article 1 pitch auxiliary pulley-a (111S1a), it may be formed to be wound directly on the Article 1 yaw pulley (112P1) without a yaw auxiliary pulley, through which, The modified example described in 21(a) can perform the same operation as the first embodiment.

Here, in the case of FIG. 21(a), the yaw pulley and the actuation pulley are not separately formed, but a common yaw pulley is used. In this case, in order to implement the actuation operation, the yaw pulley and the actuation control unit may be connected by a gear or the like. (See Example 2)

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

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

In the case of Fig. 21(c), the actuation control unit 113a for driving the first set is different from that of Fig. 21(a), and the configuration of the first set 121 and the J11 pulley 123J11 is different. This is a case where the first tank 121 is formed in a direction different from that of FIG. 21(a).

In the case of FIG. 21(d), compared to FIG. 21(b), the pitch auxiliary pulley connected to the Article 1 yaw auxiliary pulley 112S1 (Article 1 pitch auxiliary pulley-a(111S1a) and Article 1 pitch auxiliary pulley- b(111S1b)), so that the height of the wire wound around the first pitch auxiliary pulley-a(111S1a) and the wire wound around the first group pitch auxiliary pulley-b(111S1b) are opposite. It can be arranged, and as a result, it can be configured such that the vertical relationship between both strands of the Article 1 wire 130J1 is opposite compared to FIG. 21(b).

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

The above description is for the actuation and yaw motion of Article 1, and the drawings are also for the description of the actuation and yaw motion of Article 1, and it is possible to fully understand without a description of the pulley related to the intermediate pulley and the pitch operation. In this drawing, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, since Article 2 can be sufficiently understood through the drawings and description of Article 1, drawings and descriptions of Article 2 will be omitted.

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

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

To this end, pitch auxiliary pulleys of different sizes through which the first wire (130J1) passes (the first pitch auxiliary pulley-a (111S1a) and the first pitch auxiliary pulley-b (111S1b)) are arranged adjacent to each other. It was formed, and Article 1 wire (130J1) passing through Article 1 pitch auxiliary pulley-a (111S1a) is configured to be wound around Article 1 yaw auxiliary pulley (112S1), and Article 1 pitch auxiliary pulley-b (111S1b) ) Passing through the Article 1 wire (130J1) is formed to be wound on the Article 1 yo auxiliary pulley (112S1) through the auxiliary pulley (SP), through which the modified example described in Figure 22 (a) is the first implementation The same operation as in the example becomes possible.

Here, FIG. 22 shows that compared to FIG. 17, the Article 1 pitch auxiliary pulley-b(111S1b) is formed adjacent to the Article 1 pitch auxiliary pulley-a(111S1a), the pitch auxiliary pulley and the Article 1 yaw auxiliary pulley ( 112S1), an auxiliary pulley (SP) is added, so that the Article 1 wire (130J1) passing through the Article 1 pitch auxiliary pulley-b (111S1b) passes through the auxiliary pulley (SP) to Article 1 required auxiliary pulley (112S1). ) Can be easily wound. That is, by additionally forming an auxiliary pulley (SP), in the connection part 140 connecting the end tool 120 and the operation part 110, both strands of the Article 1 wire 130J1 are two connection part mediation pulleys adjacent to each other. The (MP) may pass side by side, and the pitch auxiliary pulley through which the Article 1 wire 130J1 passes may also be configured adjacent to each other. In addition, when the yo auxiliary 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 modifications such as the path of the wire, the size and arrangement of the joint pulley, and the configuration of the operation unit and the end tool.

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

In the case of Fig. 22(c), the actuation control unit 113a for driving in Article 1 is configured differently from the case of Fig. 22(a), and the end tool by the actuation operation and yaw operation in the operation unit 110 In order to perform the operation of 120 in the same manner as in FIG. 22(a), the 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 the first jaw 121 and the J11 pulley 123J11 is different, and the first jaw 121 is formed in a direction different from that of FIG. 22(a), At this time, the rotation direction of the first jaw 121 for yaw motion is the same as in FIG. 22(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is shown in FIG. 22(a). ) And the opposite. To this end, the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) were used to move the Article 1 wire 130J1, contrary to FIG. 22(a), in the operation of the first actuation control unit 113a. It may be configured such that the connecting Article 1 wires 130J1 cross each other.

In this configuration, two yaw pulleys, two yaw auxiliary pulleys, one auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys can be formed, and the wires that are seen intersecting in the drawing are actually located on different paths. Thus, it is not physically contacted, and through this, the safety and efficiency of the wire and power transmission can be improved.

The above description is for the actuation and yaw motion of Article 1, and the drawings are also for the description of the actuation and yaw motion of Article 1, and it is possible to fully understand without a description of the pulley related to the intermediate pulley and the pitch operation. In this drawing, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, since Article 2 can be sufficiently understood through the drawings and description of Article 1, drawings and descriptions of Article 2 will be omitted.

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

In the case of FIG. 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 In contrast to the yaw pulley (112P1), in the case of Figure 23, the pulley located on the right 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 joint, and in the case of FIG. 23, the yaw joint may be referred to as an indirect joint.

Due to this difference, the moving direction of both strands of the Article 1 wire 130J1 due to the yaw rotation of the manipulation 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 to each other so that the actuation operation of the operation unit 120 and the operation of the end tool 110 due to the yaw operation are performed in the same manner as in FIG. 22(a). In the connection part 140, both strands of the first wire 130J1 may be configured to cross each other to pass through two adjacent connection part mediating pulleys MP.

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

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

In the case of Fig. 23(c), the actuation control unit 113a for driving in Article 1 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 To ensure that the operation of 120 is performed in the same manner as in FIG. 23(a), the 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 the first jaw 121 and the J11 pulley 123J11 is different, and the first jaw 121 is formed in a direction different from that of FIG. 23(a), In this case, the rotation direction of the first jaw 121 for yaw motion is the same as in FIG. 23(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is shown in FIG. 23(a). ) And the opposite. To this end, the Article 1 yaw pulley (112P1) and the first actuation pulley (113P1) are used to move the Article 1 wire 130J1, contrary to FIG. 23(a), in the operation of the first actuation control unit 113a. It may be configured so that the connecting Article 1 wires 130J1 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 can be formed, and the wires that are seen intersecting in the drawing are actually located on different paths. Thus, it is not physically contacted, and through this, the safety and efficiency of the wire and power transmission can be improved.

The above description is for the actuation and yaw motion of Article 1, and the drawings are also for explaining the actuation and yaw motion of Article 1, and it is possible to fully understand even without a description of the pulley related to the intermediate pulley and the pitch operation. In this drawing, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, since Article 2 can be sufficiently understood through the drawings and description of Article 1, drawings and descriptions of Article 2 will be omitted.

FIG. 24 is a diagram illustrating another modified example of the embodiment disclosed in FIG. 21, and is a modified example of a wire path and the like in FIG. 21.

In the case of Fig. 21, the yaw pulley and the actuation pulley are not separately formed, 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 is Is formed separately. To this end, both strands of the Article 1 wire (130J1) that passed through Article 1 Pitch Auxiliary Pulley-a (111S1a) and Article 1 Pitch Auxiliary Pulley-b (111S1b) are wound around the yaw pulley (112P1) and cross each other. It is wound around the actuation pulley (113P1). In this case, since the modified example described in FIG. 24(a) can perform the same operation as the example described in FIG. 21, in the case of FIG. 24(a), the position and rotation direction of the actuation control unit 113a are shown in FIG. Configure it to be the opposite of the case.

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

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

In the case of Fig. 24(c), the actuation control unit 113a for driving the first set is different from that of Fig. 24(a), and the configuration of the first set 121 and the J11 pulley 123J11 is different. This is the case where the first tank 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), the pitch auxiliary pulley connected to the Article 1 yaw auxiliary pulley (112S1) (Article 1 pitch auxiliary pulley-a(111S1a) and Article 1 pitch auxiliary pulley- b(111S1b)), so that the height of the wire wound around the first pitch auxiliary pulley-a(111S1a) and the wire wound around the first group pitch auxiliary pulley-b(111S1b) are opposite. It can be arranged, and as a result, it can be configured such that the vertical relationship of both strands of the Article 1 wire 130J1 is opposite compared to FIG. 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 can be formed in common. The wire is actually located on a different path and does not make physical contact, and through this, the safety and efficiency of power transmission with the wire can be improved. In addition, it is possible to arrange a pitch pulley instead of the pitch auxiliary pulley shown in the drawing.

The above description is for the actuation and yaw motion of Article 1, and the drawings are also for explaining the actuation and yaw motion of Article 1, and it is possible to fully understand even without a description of the pulley related to the intermediate pulley and the pitch operation. In this drawing, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, since Article 2 can be sufficiently understood through the drawings and description of Article 1, drawings and descriptions 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 of a wire path and the like in FIG. 17.

Here, this modification is different from the embodiment of FIG. 17 in that the ends of both strands of the first wire 130J1 are not coupled to the same actuation pulley, but are coupled to different actuation pulleys. That is, one end of the Article 1 wire 130J1 is coupled to the first actuation pulley 113P1, and the other end of the Article 1 wire 130J1 is coupled to the second actuation pulley 113P2. In this case, the rotation of the two actuation pulleys must be synchronized by components such as gears. That is, when one of the actuation pulleys rotates, the two actuation pulleys should be connected so that the other side of the actuation pulley rotates accordingly.

In this way, the rotation of the two actuation pulleys is synchronized with each other due to gears, etc., so that both strands of the Article 1 wire 130J1 are not necessarily wound around one actuation pulley, and the same even if wound around each other actuation pulley. The effect can be implemented.

Such a structure can be regarded as that the Article 1 wire 130J1 virtually constitutes one closed circuit as shown in the dotted line in FIG. 25(a), and thus may be expressed as a kind of virtual loop.

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

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

In this way, the wire connected to the actuation pulley after winding the yaw pulley may be connected to either of the two actuation pulleys. This is because the two actuation pulleys are synchronized with each other by gears or the like. However, regardless of which actuation pulley is wound, the winding direction must be wound appropriately according to the direction in which the actuation pulley rotates so that the actuation operation can finally coincide with the actuation motion of the end tool.

The above description is for the actuation and yaw motion of Article 1, and the drawings are also for explaining the actuation and yaw motion of Article 1, and it is possible to fully understand even without a description of the pulley related to the intermediate pulley and the pitch operation. In this drawing, the intermediate pulley and the pulley related to the pitch operation are omitted. In addition, since the case of Article 2 can be sufficiently understood through the drawings and description of Article 1, drawings and descriptions of the operations of Article 2 will be omitted.

FIG. 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 FIG. 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, when the two actuation pulleys are synchronized with each other by a gear or the like, the same operation as in the example described in FIG. 25 is possible.

With such a configuration, the actuation pulley can be disposed behind the 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.

Fig. 26(a) is for explaining the actuation and yaw motion of Article 1, and Fig. 26(b) is for explaining the actuation and yaw motion of Article 2.

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

FIG. 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 FIG. 27(a), unlike the configuration according to the first embodiment, both strands of the first wire 130J1 configured to wind the first wire 121 pass through the two connecting part intermediate pulleys MP adjacent to each other. Article 1 yaw pulley (112P1) and Article 1 yaw auxiliary pulley (112S1) formed adjacent to each other for yaw movement, and the pulley located on the right side of the drawing is Article 1 yaw pulley (112P1) The rotation axis of Article 1 yaw pulley (112P1) becomes the yaw rotation axis.

Here, the present 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 differs from the embodiments of Figs. 17, 25, 26, etc. in that the positional relationship (precedence 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 Article 1 yaw pulley (112P1), and the rotation axis of Article 1 yaw pulley (112P1) becomes the yaw rotation axis. The Article 1 wire passing through the pitch auxiliary pulley-a (111S1a) passes through the Article 1 yaw pulley 112P1 after winding the Article 1 yaw auxiliary pulley (112S1) and is fixedly coupled to the first actuation pulley (113P1). In addition, the Article 1 wire that has passed through the Article 1 pitch auxiliary pulley-b (111S1b) does not go through the Article 1 yaw auxiliary pulley (112S1), but immediately passes the Article 1 yaw pulley (112P1), and the first actuation pulley (113P1). ) Is fixedly coupled.

With such a configuration, the yaw rotation shaft can be disposed closer to the pitch rotation shaft than in other embodiments, and as a result, there is an effect of providing a more natural and intuitive operation feeling in the user's operation.

In addition, by such a configuration, the actuation pulley can be disposed behind the 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.

Fig. 27(a) is for explaining the actuation and yaw operation of Article 1, and Fig. 27(b) is for explaining the actuation and yaw operation of Article 2.

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

* One variation of the actuation control unit

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

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

In detail, in the surgical instrument 100 of FIG. 8, a first actuation pulley 113P1 is formed on the first actuation rotation shaft 1131a, and the Article 1 wire 130J1 is formed on the first actuation pulley 113P1. It was formed to be wound. Similarly, the second actuation pulley 113P2 is formed on the second actuation rotation shaft 1131b, and the second 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 around one actuation rotation shaft. That is, the actuation pulley (113P) is formed on the actuation rotation shaft (1131), the first wire (130J1) is wound under the actuation pulley (113P), the second wire (130J2) is the actuation pulley ( 113P). However, since the two wires 130J1 and 130J2 must move in opposite directions by the rotation of one actuation rotation shaft 1131, one of the two wires must be formed to cross. In Figure 28, Article 2 wire (130J2) is formed to cross once between the actuation pulley (113P) and Article 2 yo pulley (112P2).

In addition to the actuation shaft and the actuation pulley, the configuration of the rest of the actuation control units, i.e., the first actuation rotation unit (not shown), the first actuation gear (1134a), the second actuation rotation unit (not shown), and the second actuation gear (1134b) exists the same. Here, the gear allows the motions of the two actuation rotors to be connected to each other, and as a result, one motion of the two fingers gripping the two actuation rotors causes the other motion, as well as the amount of rotation of each It can play a role in helping to match. For this effect, not only gears but also structures such as links will be possible.

* One variation 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 modification is characterized by the configuration of the pitch pulleys of the operation unit 110 and the end tool 120 of the surgical instrument compared to the surgical instrument of the present invention (see 100 in FIG. 16) described above. 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 operation unit 110 ) And the first pitch pulley-b (111P1b) are formed to have different diameters.

At this time, the diameter ratio of the different pitch pulleys on the end tool 120 side (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 operation unit 110 (first The diameter ratio of the jaw pitch pulley-a (111P1a) and the first jaw pitch pulley-b (111P1b)) is configured equally, so that the amount of movement and the pitch rotation of both strands of the jaw wire due to the pitch rotation of the control unit 110 By making each movement amount of both strands of the wire on the end tool 120 side for the same, 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 lumbar joint. That is, by varying the diameters of the yaw pulleys of the operation unit 110 and at the same time varying the diameters of the J11 pulley (123J11) and the J21 pulley (123J21) of the end tool 120, the yaw pulleys of different diameters to the direct yaw joint Can be used to configure.

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 a yaw joint, a pitch joint, and an actuation joint. It can be modified into various embodiments that perform the same function. Various various modifications may be configured by combining the 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 so as to perform the same function as the surgical instrument 100 according to the first embodiment of the present invention. They will say that a combination of them is possible.

<Insulation related modification>

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

Referring to FIGS. 30 and 31, the surgical instrument according to the present modification further includes an insulation assembly for insulation of each wire compared to the surgical instrument of the present invention described above (see 100 in FIG. 2). It is characterized by one. That is, the end tool and the operation part are separated so as to be electrically insulated, and the operation part is to be safely electrically insulated even when an additional wire is connected to the bath in order to use the end tool as an electric fire. To this end, an insulating assembly is provided in the middle of each wire physically connecting the end tool and the operation unit to insulate the end tool and the operation unit. To this end, a first insulating assembly 135, a second insulating assembly 136, and a third insulating assembly 137 are sequentially provided in the middle of the bent part 141 of the connection part 140, and each insulating assembly is Insulate each of the two wires in turn.

In the drawing, the first insulating assembly 135, the second insulating assembly 136, and the third insulating assembly 137 are sequentially arranged from the side close to the end tool 120, but the spirit of the present invention is limited thereto. No, it will be said that the configuration and arrangement of each insulation assembly can be variously modified as needed.

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

Here, Article 2 R wire (130J2R) represents the right wire of both strands of Article 2 wire (130J2), Article 2 R wire (130J2R) is divided into two again, entering the first insulation assembly 135 It is divided into Article 2 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 of both strands of Article 1 wire (130J1), Article 1 L wire (130J1L) is divided into two again, entering the first insulation assembly 135 It is divided into Article 1 L wire-in (130J1Lin) and Article 1 L wire-out (130J1Lout) from the first insulation assembly 135.

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

At this time, a groove is formed on one side of the Article 2 R-wire-in pulley 1352Rin and the Article 2 R-wire insulation pulley 1352Ris, and a protrusion is formed on the other side to be coupled to each other. In addition, a groove is formed on one side of the Article 2 R-wire-out pulley 1352Rout and the Article 2 R-wire insulation pulley 1352Ris and a protrusion is formed on the other side to be coupled to each other. At this time, the protrusion (or groove) on the side of Article 2 R wire-in pulley (1352Rin) and the protrusion (or groove) on the side of Article 2 R wire-out pulley (1352Rout) are formed to be isolated from each other, and Article 2 R wire-in (130J2Rin) and Article 2 R wire-out (130J2Rout) should 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, Article 2 R wire insulation pulley (1352Ris) is formed as a non-conductor so that Article 2 R wire-in (130J2Rin) and Article 2 R wire-out (130J2Rout) are insulated from each other. I can.

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

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

In addition, the first insulation assembly 135, Article 1 R wire intermediate pulley (1351Rme), Article 2 L wire intermediate pulley (1352Lme), one or more pitch wire intermediate pulley (135Pme), one or more non-conductor insulation auxiliary pulley (135IsAs) may be included. Here, Article 2 R-wire mediation pulley (1352Rme), Article 2 L-wire mediation pulley (1352Lme), pitch wire mediation pulley (135Pme), and other pitch wire mediation pulley (not shown), each of which has an insulation auxiliary pulley (135IsAs). ) Is inserted, and Article 1 R-wire mediation pulley (1351Rme) passes through as the Article 1 R-wire (not shown) is wound, and Article 2 L-wire mediation pulley (1352Lme) is Article 2 L-wire (not shown). ) Passes while being wound, and the two pitch wire intermediate pulleys 135Pme pass while being wound around both strands of a pitch wire (not shown).

With this configuration, the wires 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 pulleys of the first insulation assembly 135. They can be separated by being electrically insulated from the rotating shaft and wire.

In more detail, when the pulley of the wire and the first insulation assembly is made of metal, the pulleys disposed between the metal pulleys are made of an electrically insulating material, so that the end tool and the operation unit can be electrically separated as described above. In the case of only metal, the elements constituting the first insulating assembly may be made of an electrically insulating material, and the end tool and the operation unit may be electrically separated as described above.

The first insulating assembly 135 has the same structure, and in the second insulating assembly 136, each of the Article 1 R wire and the Article 2 L wire is separated and insulated. In the third insulating assembly 137, the amount of pitch wire Each strand is separated and insulated.

With such a configuration, each wire connecting the end tool and the operation unit is completely insulated, and thus the end tool and the operation unit are electrically insulated and separated, so that the operation unit can be electrically more safely configured. The above-described insulating assembly is characterized in that an intermediate point of a wire connected from the end tool to the operation unit is electrically disconnected to electrically insulate the end tool from the operation unit. In the above description, the case where the pulley of the wire and insulation assembly is metal, but if the pulley (Article 1 L wire in pulley (1351Lin), Article 1 L wire out pulley (1351Lout), etc.) is a non-conductor that does not conduct electricity. 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 one non-conductor pulley. There will be. A description of such a modified example can be sufficiently inferred by this description, and thus a description thereof will be omitted.

<Second Example of Surgical Instrument>

Hereinafter, a description will be given of a surgical instrument 200 according to a second embodiment of the present invention. Here, the surgical instrument 200 according to the second embodiment of the present invention is the operation part of the surgical instrument 200 compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2). The composition 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. The configuration different from that of the first embodiment will be described in detail later.

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

32 to 40, the operation 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 an end tool. A yaw control unit 212 that controls the yaw movement of 220, an actuation operator 213 that controls the actuation movement of the end tool 220, and a device that can be gripped by a user. Includes 1 handle (214).

First, when illustrating the state of use of the surgical instrument 200 of FIG. 32, the user rotates the first handle 214 on the Y-axis (ie, the pitch rotation axis 2111) while holding the first handle 214 with the palm of the hand. ) To perform a pitch movement, rotate the first handle 214 around the Z-axis (i.e., yaw rotation axis 2121) to perform yaw movement, and actuate the thumb and index finger The actuation movement may be performed by rotating the actuation control unit 213 in a state inserted into the 213.

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

To this end, the operation unit 210 is, like the end tool 220, that a part that is actually moved for an actuation operation, a yaw operation, and a pitch operation extends in the +X-axis direction from the rotation center of the corresponding joint of each movement. It is characterized.

In detail, the first handle 214 may be formed to be gripped by a user by hand, and in particular, may be formed to allow the user to wrap and hold the first handle 214 with his or her palm. In addition, an actuation operation part 213 and a yaw operation part 212 are formed on the first handle 214, and a pitch operation part 211 is formed on one side of the yaw operation part 212. In addition, the other end of the pitch manipulation part 211 is connected to the bent part 241 of the connection part 240.

The actuation operation unit 213 includes a first actuation operation unit 213a and a second actuation operation unit 213b. The first actuation control unit 213a includes a first actuation rotation shaft 2131a, a first actuation rotation unit 2132a, and a first actuation gear 2134a. The second actuation operation unit 213b includes a second actuation rotation shaft 2131b, a second actuation rotation unit 2132b, and a second actuation gear 2134b. Here, the first actuation rotation unit 2132a and the second actuation rotation unit 2132b 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 in which the connection part 240 is formed. For example, the actuation rotation shafts 2131a and 2131b may be formed in a direction parallel to the Z-axis, and when the pitch control unit 211 or the yaw control unit 212 rotates in this state, the actuation control unit 213 The coordinate system of) can be changed relatively. Of course, the spirit of the present invention is not limited thereto, and by ergonomic design, the actuation rotation shafts 2131a and 2131b are formed in various directions to suit the user's hand structure holding the actuation control unit 213 Can be.

Meanwhile, the first actuation rotation unit 2132a and the first actuation gear 2134a are fixedly coupled to each other, and may be formed to be rotatable together about the first actuation rotation shaft 2131a.

Likewise, the second actuation rotation part 2132b and the second actuation gear 2134b are fixedly coupled to each other, and may be formed to be rotatable together about the second actuation rotation 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, they may be formed to rotate together in opposite directions.

The yaw control unit 212 may include a yaw rotation shaft 2121, an Article 1 yo pulley 212P1, an Article 2 yo pulley 212P2, and a yaw frame 2123. Here, in the drawings, the yaw control unit 212 is illustrated as having two pulleys, the Article 1 yaw pulley 212P1 and the 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 diameter or different from each other may be provided according to the configuration of the yaw operation unit 212.

In detail, a yaw rotation shaft 2121 is formed on one side of the actuation control unit 213 on the first handle 214. At this time, the first handle 214 is formed to be rotatable around the yaw rotation shaft 2121.

* Here, the yaw rotation shaft 2121 may be formed to form a predetermined angle with the XY plane in which the connection part 240 is formed. For example, the yaw rotation axis 2121 may be formed in a direction parallel to the Z axis, and when the pitch control unit 211 rotates in this state, the coordinate system of the yaw rotation axis 2121 may change relatively as described above. I 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 so as to be suitable for the user's hand structure 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 about the yaw rotation shaft 2121. In addition, the Article 1 wire 230J1 may be wound on the Article 1 yo pulley 212P1, and the Article 2 wire 230J2 may be wound on the Article 2 yo pulley 212P2.

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, so that the first handle 214 and the yaw operation part ( 212) and the actuation control unit 213 are integrally rotated around the yaw rotation shaft 2121.

On the other hand, the yaw control unit 212 may further include a first yaw gear 2124a and a second yaw gear 2124b rotatable independently of each other around 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 together with the Article 1 yaw pulley (212P1), and the second yaw gear (2124b) is the Article 2 yaw pulley ( 212P2) is fixedly coupled to the Article 2 yaw pulley (212P2) can rotate together.

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. Meanwhile, the first actuation gear 2134a and the first yaw gear 2124a 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 second actuation gear 2134b and the second yaw gear 2124b are formed to mesh with each other, and are formed to rotate together in opposite directions when either side rotates.

At this time, the example described in Fig. 21(a) is a picture of the actuation and yaw movement of Article 1 121, and the handle is positioned above the drawing in the operation part 110, but the present invention 2 In the operation unit 210 of the surgical instrument 200 according to the embodiment, the first actuation operation unit 213a located at the bottom of the drawing as shown in FIG. 31 is a Article 1 wire for the operation of Article 1 221 ( It becomes a handle for moving 230J1). 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 on the drawing is rotated counterclockwise. However, both are for an operation of closing the two jaws 221 and 222 of the end tool 220 to each other, and may be referred to as the same operation. In addition, the actual pulley and wire configurations are the same. 2 The surgical instrument 200 according to the embodiment can be said to be substantially the same as the example described in 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 manipulation part 211 is connected to the bent part 241 of the connection part 240 through the pitch rotation shaft 2111.

In detail, the pitch frame 2113 becomes the base frame of the pitch control unit 211, and the yaw rotation shaft 2121 is rotatably coupled to one end. 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 the yaw frame 2123 ) Is connected to the pitch frame 2113, so when the pitch frame 2113 rotates around the pitch rotation shaft 2111, the yaw frame 2123 connected to the pitch frame 2113, the first handle 214, and the yaw rotation shaft (2121), the first actuation rotation shaft (2131a), the second actuation rotation shaft (2131b) are rotated together. That is, when the pitch manipulation part 211 rotates about the pitch rotation shaft 2111, the actuation manipulation part 213 and the yaw manipulation part 212 rotate together with the pitch manipulation part 211. In other words, when the user pitch-rotates the first handle 214 about the pitch rotation shaft 2111, the actuation control unit 213, the yaw control unit 212, and the pitch control unit 211 move together.

The pitch frame 2113 is coupled to the pitch rotation shaft 2111 and the pitch pulley 211P. 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, the pitch control unit 211, the yaw control unit 212, and the actuation control unit 213, respectively, the connection relationship between each of the following is summarized. An actuation rotation shaft 2131a and 2131b, a yaw rotation shaft 2121, and a pitch rotation shaft 2111 may be formed on the first handle 214. At this time, since the actuation rotation shafts 2131a and 2131b are directly formed on the first handle 214, the first handle 214 and the actuation control unit 213 may be directly connected. Meanwhile, since the yaw rotation shaft 2121 is directly formed on the first handle 214, the first handle 214 and the yaw manipulation unit 212 may be directly connected. On the other hand, since the pitch manipulation part 211 is formed to be connected to the yaw manipulation part 212 on one side of the yaw manipulation part 212, the pitch manipulation part 211 is not directly connected to the first handle 214, but the pitch manipulation part The 211 and the first handle 214 may be formed to be indirectly connected through the yaw control unit 212.

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

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

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

To this end, according to the user's yaw manipulation and actuation manipulation, there is a need for a structure that allows the Article 1 yaw pulley 212P1 and the Article 2 yaw pulley 212P2 to rotate in the same direction or in different directions. .

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 yo pulley (212P2) to be connected to each other.

In detail, the first yaw gear 2124a, which is fixedly coupled to the Article 1 yaw pulley 212P1 and can rotate together about the yaw rotation shaft 2121, is connected to mesh with the first actuation gear 2134a, at this time The first actuation gear 2134a is fixedly coupled to the first actuation control unit 213a to rotate together about the first actuation rotation shaft 2131a. The first actuation gear 2134a is connected to mesh with the second actuation gear 2134b, and at this time, the second actuation gear 2134b is fixedly coupled to the second actuation control unit 213b to perform a second actuation. It can rotate together about the rotation shaft (2131b). The second actuation gear 2134b is connected to mesh with the second yaw gear 2124b, and the second yaw gear 2124b is fixedly coupled with the Article 2 yaw pulley 212P2 to center the yaw rotation shaft 2121. Can rotate together.

Through this configuration, the actuation operation of rotating the first actuation control unit 213a and the second actuation control unit 213b in opposite directions results in 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 operation part 213a and the second actuation operation part 213b are also connected to the yaw frame 2123. That is, when the first handle 214 is rotated about the yaw rotation shaft 2121, the yaw frame 2123, the first actuation control unit 213a, the second actuation control unit 213b, and the first actuation The gear 2134a and 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, and the Article 1 yaw pulley (212P1), Article 2 The yaw pulley (212P2) is rotated in the same direction around the yaw rotation shaft (2121). Through this, the first jaw 221 and the second jaw 222 of the end tool 220 rotate yaw in the same direction.

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

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

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

First, the actuation operation is as follows.

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

When the first actuation control unit 213a and the first actuation gear 2134a rotate clockwise, the first yaw gear 2124a formed to mesh with the first actuation gear 2134a rotates counterclockwise. Is done. In addition, when the first actuation control 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. It rotates in the direction, and the second yaw gear 2124b formed to mesh with the second actuation gear 2134b rotates in the clockwise direction.

As a result, the Article 1 yaw pulley 212P1 connected to the first yaw gear 2124a and the Article 2 yaw pulley 212P2 connected to the second yaw gear 2124b rotate in opposite directions. Article 1 (221) connected to Article 1 yaw pulley (212P1) and Article 2 (222) connected to Article 2 yaw pulley (212P2) rotate in the opposite direction, so that the actuation movement is performed.

Next, the yaw operation is as follows.

On the other hand, when the first handle 214 is rotated in one direction around the yaw rotation shaft 2121 for yaw motion, the actuation control unit 213 formed at one end of the first handle 214 also includes the first handle 214 and Together, they rotate around the yaw rotation shaft 2121.

At this time, since the entire actuation control 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, so the first actuation The first yaw gear 2124a and the second yaw gear 2124b engaged with the tion 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) Like one rigid body, it rotates around the yaw rotation shaft 2121 at the same time. Therefore, the Article 1 yaw pulley (212P1) connected to the first yaw gear (2124a) and the Article 2 yaw pulley (212P2) connected to the second yaw gear (2124b) rotate together in one direction, and thus Article 1 ( The yaw motion in which 221) and Article 2 222 rotate in the same direction is performed.

Next, the pitch operation is as follows.

When the user rotates the first handle 214 around the pitch rotation shaft 2111 while holding the first handle 214, the actuation control part 213, the yaw control part 212, and the pitch control part 211 The pitch rotation is performed around the pitch rotation shaft 2111. That is, when the Article 1 yaw pulley 212P1 of the yaw control unit 212 to which the Article 1 wire 230J1 is fixedly coupled is rotated about the pitch rotation shaft 2111, the material wound around the pitch pulley 211P 1 set wire (230J1) is moved. Similarly, when the Article 2 yaw pulley 212P2 of the yaw control unit 212 to which the Article 2 wire 230J2 is fixedly coupled is rotated about the pitch rotation shaft 2111, the material wound around the pitch pulley 211P Two sets of wire (230J2) is moved. In addition, such a rotational force is transmitted to the end tool 220 through the power transmission unit 230, so that the two jaws 221 and 222 of the end tool 220 perform a pitch operation.

At this time, the pitch frame 2113 is connected to the yaw frame 2123, and the yaw frame 2123 has a first handle 214, a yaw rotation shaft 2121, a first actuation rotation shaft 2131a, and a second actuation rotation shaft ( 2131b), so when the pitch frame 2113 rotates about the pitch rotation shaft 2111, the yaw frame 2123 connected to the pitch frame 2113, the first handle 214, the yaw rotation shaft 2121, and The 1 actuation rotation shaft 2131a and the second actuation rotation shaft 2131b rotate together. That is, when the pitch manipulation part 211 rotates about the pitch rotation shaft 21111, the actuation manipulation part 213 and the yaw manipulation part 212 rotate together with the pitch manipulation part 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 The jaw wire) is wound, and the rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes the movement of each wire, resulting in a desired motion of the end tool 220. Furthermore, auxiliary pulleys may be formed on one side of each pulley, and the wire may not be wound multiple times on one pulley by these auxiliary pulleys.

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

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

41, 42, and 43, the surgical instrument 300 according to the third embodiment of the present invention includes a first yaw gear, a second yaw gear, a first actuation gear, and a second yaw gear according to the second embodiment. Although the actuation control section and yaw control section composed of an actuation gear and the like have been different, the resulting action 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 operation unit 313a includes a first actuation rotation unit 3132a and a first actuation gear 3134a. The second actuation operation unit 313b includes a second actuation rotation unit 3132b and a second actuation gear 3134b. Here, the first actuation rotation unit 3132a and the second actuation rotation unit 3132b may operate as a second handle. In addition, the actuation operation unit 313 further includes a third actuation gear 3134c.

Meanwhile, the first actuation rotation part 3132a and the first actuation gear 3134a are fixedly coupled to each other, and may be formed to be rotatable together about the yaw rotation shaft 3121. Likewise, the second actuation rotation part 3132b and the second actuation gear 3134b are fixedly coupled to each other, and may be formed to be rotatable together about the yaw rotation 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, so that when either side rotates, they rotate together in opposite directions. Can be.

The yaw control unit 312 may include a yaw rotation shaft 3121, an Article 1 yo pulley 312P1, and an Article 2 yo 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) to rotate together, and Article 2 yaw pulley (312P2) is fixedly coupled with the second actuation gear (3134b) to rotate together can do. In addition, the Article 1 wire 330J1 may be wound on the Article 1 yo pulley 312P1, and the Article 2 wire 330J2 may be wound on the Article 2 yo pulley 312P2. At this time, the Article 1 yaw pulley 312P1 and the Article 2 yo pulley 312P2 may be formed of two pulleys that are formed to face each other and can independently rotate. 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.

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

First, the actuation (actuation) operation will be described. 46 and 47 are views showing an actuation operation of the surgical instrument of FIG. 41.

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

As a result, the Article 1 yaw pulley 312P1 connected to the first actuation gear 3134a and the Article 2 yaw pulley 312P2 connected to the second actuation gear 3134b rotate in opposite directions, Therefore, Article 1 321 connected to Article 1 yaw pulley 312P1 and Article 2 322 connected to Article 2 yaw pulley 312P2 rotate in opposite directions, so that the actuation movement is performed.

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

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

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

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

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

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

Compared to the third embodiment, the surgical instrument 400 according to the fourth embodiment of the present invention includes a first actuation gear 4124a, a second actuation gear 4124b, and a third actuation gear 4134. The configured actuation control unit 413 and the yaw control unit 412 have been changed. In the third embodiment, the first actuation rotation unit 3132a is fixedly coupled to the first actuation gear 3134a, and the second actuation rotation unit 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 rotation unit 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 rotating 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 rotation unit of the third embodiment, respectively, in the fourth embodiment, the first yaw gear, the second yaw gear, It is expressed as an actuation gear and an actuation rotation part.

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

First, the actuation (actuation) operation will be described. 49 is a view showing an actuation operation of the surgical instrument of FIG. 48;

When the actuation rotation part 4132 and the actuation gear 4134 connected thereto are rotated in the direction of arrow A in FIG. 49, the first yaw gear 4124a and the second yaw gear formed to mesh with the actuation gear 4134, respectively ( 4124b) rotates in opposite directions about the yaw rotation shaft 4121.

As a result, Article 1 yaw pulley (412P1) fixedly coupled with the first yaw gear (4124a) and Article 2 yaw pulley (412P2) fixedly coupled with the second yaw gear (4124b) rotate in opposite directions. Therefore, Article 1 (421) connected to Article 1 yaw pulley (412P1) and Article 2 (422) connected to Article 2 yaw pulley (412P2) are rotated in opposite directions, so that the actuation movement is performed. will be.

Next, the 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 are simultaneously rotated in the same direction in the arrow Y direction.

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, Therefore, Article 1 (421) connected to Article 1 yaw pulley (412P1) and Article 2 (422) connected to Article 2 yaw pulley (412P2) rotate in the same direction, so that the yaw movement is performed.

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

<Fifth Example 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 the operation part of the surgical instrument 500 compared to the surgical instrument according to the second embodiment of the present invention (see 200 in FIG. 32) described above. The composition of 510 is characteristically different. As described above, a different configuration compared to 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, the Article 1 yaw auxiliary pulley 112S1 of FIG. 24(a) corresponds to the Article 1 yaw auxiliary pulley 512S1 of FIG. 53, and the Article 1 yaw pulley 112P1 of FIG. 24(a) is It corresponds to the Article 1 yaw pulley 512P1 of 53, and the first actuation pulley 113P1 of FIG. 24(a) corresponds to the first actuation pulley (not shown) of FIG.

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

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

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

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

The actuation rotation shaft 5131 includes a third actuation gear 5134c and a fourth actuation gear 5134d formed so as to be independently rotatable around the actuation rotation shaft 5131.

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

The first actuation gear 5134a and the third actuation gear 5134c 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 second actuation gear 5134b and the fourth actuation gear 5134d are formed to mesh with each other, and are 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 the Article 1 yaw The pulley (512P1) is connected through the Article 1 wire (530J1), so that when the third actuation gear (5134c) rotates, Article 1 yaw pulley (512P1) is formed to rotate together. At this time, the Article 1 wire (530J1) is wound so as to be fixedly coupled to a point of the third actuation pulley (not shown), and is wound by crossing the Article 1 yaw pulley (512P1), Article 1 yaw pulley (512P1) May rotate in the opposite direction in 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), the fourth actuation pulley (5133d) and Article 2 yaw pulley ( 512P2) is connected through the Article 2 wire (530J2), so that when the fourth actuation gear 5134d rotates, the Article 2 yaw pulley (512P2) can rotate together. At this time, Article 2 wire (530J2) is wound so as to be fixedly coupled to one branch of the fourth actuation pulley (5133d), and is wound crosswise to Article 2 yaw pulley (512P2), Article 2 yaw pulley (512P2) The fourth actuation pulley 5133d may rotate in the opposite direction in which it rotates.

At this time, the Article 1 yaw pulley (512P1) and Article 2 yaw pulley (512P2) are formed to be independently rotatable around the yaw rotation shaft (5121).

The yaw control unit 512 may include a yaw rotation shaft 5121, an Article 1 yaw pulley 512P1, and an 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 part 511 is connected to the bent part 541 of the connection part 540 through the pitch rotation shaft 5111.

The actuation motion, yaw motion, and pitch motion 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 a first actuation control unit 513a and a second actuation gear 5134b rotating together with a second actuation control unit 513b. Since the are formed so as to be engaged with each other, when either of the first actuation manipulation unit 513a or the second actuation manipulation unit 513b rotates, the other side also rotates.

When the first actuation control unit 513a and the first actuation gear 5134a rotate in the direction of the arrow A1 around the first actuation rotation shaft 5131a, the first actuation gear 5134a is formed to mesh with the first actuation gear 5134a. 3 The actuation gear 5134c rotates in the opposite direction of A1.

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

As a result, the third actuation pulley (not shown) fixedly coupled to the third actuation gear (5134c) and the fourth actuation pulley (5133d) fixedly coupled to the fourth actuation gear (5134d) are in opposite directions. As a result, the first jaw 521 connected to the third actuation pulley (not shown) and the second jaw 522 connected to the fourth actuation pulley (5133d) rotate in opposite directions. The exercise is performed.

Here, the present embodiment is characterized in that it separately includes a yaw rotation shaft 5121 and an actuation rotation shaft 5131. In addition, Article 1 yaw pulley (512P1) and Article 2 yaw pulley (512P2) are formed so as to be independently rotatable around the yaw rotation shaft (5121).

That is, in the second embodiment, the first yaw gear 2124a, the second yaw gear 2124b, the Article 1 yaw pulley 212P1 and the Article 2 yaw pulley 212P2 are all formed on the yaw rotation shaft 2121. However, in this embodiment, the third actuation gear 5134c and the fourth actuation gear 5134d are formed on the actuation rotation shaft 5131, and 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 in the second embodiment, the Article 1 wire 530J1 must cross once between the third actuation pulley (not shown) and the Article 1 yaw pulley 512P1. And, the Article 2 wire (530J2) must cross once between the 4th actuation pulley (5133d) and Article 2 yaw pulley (512P2). As described above, only when the Article 1 wire 530J1 and the Article 2 wire 530J2 cross once, the operation of the operation unit 510 and the operation of the end tool 520 are intuitively matched.

Next, the 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 around the yaw rotation shaft 5121, the actuation control unit 513 formed at one end of the first handle 514 is also a first handle ( Together with 514, it rotates about the yaw rotation shaft 5121. At this time, since the entire actuation control 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, so the first actuation The third actuation gear 5134c and the fourth actuation gear 5134d engaged 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) are rotated about the yaw rotation axis (5121) at the same time as one rigid body. In this way, Article 1 yaw pulley (512P1) and Article 2 yaw pulley (512P2) rotate in one direction, so that Article 1 (521) and Article 2 (522) rotate in the same direction. The operation is performed.

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

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

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

56 to 60, the surgical instrument 600 according to the sixth embodiment of the present invention includes an operation unit 610, an end tool 620, a power transmission unit 630, and a connection unit 640. ). Here, the connection part 640 is formed in a shape of a hollow shaft, and one or more wires (to be described later) may be accommodated therein, and an operation part 610 is coupled to one end thereof, and an end thereof is provided at the other end. The tool 620 may be coupled to serve to connect the operation unit 610 and the end tool 620. The connection 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 that controls the pitch movement of the end tool 620 and the yaw movement 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, when illustrating the state of use of the surgical instrument 600 of FIG. 56, the user rotates the first handle 614 on the Y axis (ie, the pitch rotation axis 6111) while holding the first handle 614 with the palm of the hand. ) To perform a pitch movement, rotate the first handle 614 around the Z axis (i.e., yaw rotation axis 6121) to perform yaw movement, and actuate the thumb and index finger In the state inserted in the 613, the actuation operation part 613 may be rotated to perform an actuation motion.

Here, the surgical instrument 600 according to the sixth embodiment of the present invention is formed such that the yaw operation unit 612 is substantially spaced apart from the first handle 614 compared to the first embodiment. That is, the actuation control part 613 and the pitch control part 611 are formed on the first handle 614 to be formed relatively close to the first handle 614, whereas the yaw control part 612 is the pitch control part 611 It is connected through the pitch rotation shaft 6111 and the I-shaped yaw frame 6123, and formed so that the yaw operation part 612 and the bend part 641 are connected by a yaw rotation shaft 6121 on one side of the bent part 641 Therefore, the yaw operation part 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 of the actuation control unit 613, and a plurality of pulleys are arranged between the yaw rotation shaft 6121 and the actuation control unit 613 When the first handle 614 is rotated yaw, 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 operation unit for operating the operation of the end tool is connected in the order of a pitch joint and a yaw joint. That is, the wire connected for power transmission of the end tool is first connected to the pitch joint of the manipulation unit through the connecting part and the bent part, and then connected to the yaw joint.

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

However, the sixth embodiment has the same feature as the first embodiment in that the end tool intuitively rotates in the same direction as the operation direction of the operation unit. That is, as described in Fig. 1, when the user moves the handle for actuation rotation, pitch rotation, and yaw rotation, the rotation axis of the corresponding operation part for the rotation is located at the rear (user side) like the end tool. Are the same. In detail, the first handle 614 is formed to be gripped by the user by hand, and in particular, the first handle 614 may be formed to be held by wrapping the first handle 614 with his or her palm. In addition, an actuation manipulation part 613 is formed on the first handle 614, and a pitch manipulation part 611 is formed on one side of the actuation manipulation part 613. In addition, the pitch manipulation unit 611 is connected to the yaw manipulation unit 612 through the yaw frame 6123, 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. .

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

On the other hand, the first actuation rotation part 6132a, the first actuation pulley 613P1, and the first actuation gear 6134a are fixedly coupled to each other, and are formed to be rotatable together about the first actuation rotation shaft 6131a. Can be.

Likewise, the second actuation rotation part 6132b, the second actuation pulley 613P2, and the second actuation gear 6134b are fixedly coupled to each other, so that they can rotate together around the second actuation rotation shaft 6131b. Can be.

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

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, pitch wire pitch auxiliary pulleys 611PS, pitch wire pitch return pulleys 611PR, and more.

The pitch frame 6113 is coupled to the pitch rotation shaft 6111 and the pitch pulley 611P. 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 control 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 control unit 613 and the pitch control unit 611 are rotated 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 and the second actuation rotation shaft 6131b connected to the first handle 614 rotate together. In other words, when the user pitch-rotates the first handle 614 about the pitch rotation shaft 6111, the actuation control unit 613 moves together with the first handle 614.

The yaw operation unit 612 may include a yaw rotation shaft 6121, an Article 1 yo pulley 612P1, an Article 2 yaw pulley 612P2, and a yaw frame 6123. In addition, the yaw operation unit 612 includes an Article 1 yaw auxiliary pulley (612S1) formed on one side of the Article 1 yaw pulley (612P1), and 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 a base frame of the yaw operation 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 yaw frame 6123 and the bent portion 641 of the extension part 640 are formed to be rotatable with respect to each other about the yaw rotation shaft 6121.

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

* Here, in the drawings, 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 operation unit 612 The 1 pitch wire yaw pulley (612PP1), the first pitch wire yaw auxiliary pulley (612PS1), the second pitch wire yaw pulley (612PP2), and the second pitch wire yaw auxiliary pulley (612PS2) 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 diameter or different from each other may be provided according to the configuration of the yaw operation unit 612.

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

Through this configuration, the rotation axis of the yaw joint of the manipulation unit and the rotation axis of the pitch joint can be arranged close, such as crossing the rotation axis of the pitch joint as shown in FIG. 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) so as to be rotatable about the yaw rotation shaft (6121). In addition, the Article 1 wire 630J1 may be wound on the Article 1 yo pulley 612P1, and the Article 2 wire 630J2 may be wound on the Article 2 yo pulley 612P2. At this time, the Article 1 yaw pulley 612P1 and the Article 2 yaw pulley 612P2 may be formed of two pulleys that are formed to face each other and are independently rotatable. Therefore, the wound wire and the wound wire can be wound on separate pulleys, so that they can operate without interfering with each other.

Likewise, Article 1 yo auxiliary pulley (612S1) and Article 2 yo auxiliary pulley (612S2) may be composed of two pulleys that are formed to face each other and can independently rotate. Therefore, the wound wire and the wound wire can be wound on separate pulleys, so that they can operate without interfering with each other.

The first handle 614, the pitch control unit 611, the yaw control unit 612, and the actuation control unit 613, respectively, to summarize the connection relationship of each of the following. On the first handle 614, an actuation rotation shaft 6131a (6131b), a yaw rotation shaft 6121, and a pitch rotation shaft 6111 may be formed. At this time, since the actuation rotation shafts 6131a and 6131b are directly formed on the first handle 614, the first handle 614 and the actuation control unit 613 may be directly connected. Meanwhile, since the pitch rotation shaft 6111 is directly formed on the first handle 614, the first handle 614 and the pitch manipulation unit 611 may be directly connected. On the other hand, since the yaw operation unit 612 is formed to be connected through the pitch operation unit 611 and the yaw frame 6123, the yaw operation unit 612 is not directly connected to the first handle 614, but the yaw operation unit 612 ) May be formed to be connected to the first handle 614 indirectly through the pitch manipulation unit 611.

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

First, the actuation operation is as follows.

In the state where the user inserts the index finger into the first actuation rotation part 6132a and the thumb in the second actuation rotation part 6132b, the actuation rotation part 6132a, 6132b ) Is rotated, the first actuation pulley 613P1 and the first actuation gear 6134a fixedly coupled to the first actuation rotation part 6132a rotate around the first actuation rotation shaft 6131a, and 2 A second actuation pulley (6133b) and a second actuation gear (6134b) fixedly coupled to the actuation rotation unit (6132b) rotates around the second actuation rotation shaft (6131b). At this time, the first actuation pulley (613P1) and the second actuation pulley (613P2) rotate in opposite directions, and thus, the first wire (630J1) having one end fixedly coupled to the first actuation pulley (613P1). The second wire 630J2, which has one end fixedly coupled to the second actuation pulley 613P2, is also moved in opposite directions. In addition, such a rotational force is transmitted to the end tool 620 through the power transmission unit 630, so that two jaws 621 and 622 of the end tool 620 perform an 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 while holding the first handle 614, the actuation control unit 613 is rotated by the pitch rotation shaft ( 6111) will rotate the pitch together. That is, when the first actuation pulley 613P1 of the first actuation control unit 613a to which the Article 1 wire 630J1 is fixedly coupled is rotated about the pitch rotation shaft 6111, the pitch pulley 611P 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 control unit 613b to which the Article 2 wire 630J2 is fixedly coupled is rotated around the pitch rotation shaft 6111, the pitch pulley 611P Both strands (630J2R, 630J2L) of the wound Article 2 wire (630J2) are moved in the same direction. And, such a rotational force is transmitted to the end tool 620 through the power transmission unit 630, the two jaws (621, 622) of the end tool 620 performs a pitch operation.

Meanwhile, as shown in FIG. 58, a pitch pulley (623P) and a pitch wire (630P) are formed in the end tool 620 so that the pitch operation of the end tool 620 is more easily performed according to the pitch manipulation of the manipulation unit 610. I 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 and the pitch operation unit 611, and again, the pitch operation unit 611, the yaw operation unit ( 612) is fixedly coupled to a point of each bent portion.

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. 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 rotate around the pitch rotation axis (611), resulting Both strands (630PL) (630PR) of the pitch wire (630P) close to the end tool 620 are moved in opposite directions, so that the end tool by Article 1 wire (630J1) and Article 2 wire (630J2) Separate from the pitch operation of 620, additional power of pitch rotation may be transmitted.

Next, the yaw operation is as follows.

57 and 59, when the user rotates the first handle 614 about the yaw rotation shaft 6121 while holding the first handle 614, the actuation control unit 613, the pitch control unit ( 611) and the yaw operation unit 612 rotates the yaw around the yaw rotation shaft 6121. That is, when the first actuation pulley 613P1 of the first actuation control unit 613a to which the Article 1 wire 630J1 is fixedly coupled is rotated around the yaw rotation shaft 6121, Article 1 yaw pulley ( The first wire 630J1 wound around 612P1 is moved. Likewise, when the second actuation pulley 613P2 of the second actuation control unit 613b to which the Article 2 wire 630J2 is fixedly coupled is rotated about the yaw rotation shaft 6121, the Article 2 yaw pulley ( Article 2 wire (630J2) wound around 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), and Article 1 (621) and Article 2 ( 622) may be configured to rotate in the same direction. Then, such a rotational force is transmitted to the end tool 620 through the power transmission unit 630, and two jaws 621 and 622 of the end tool 620 perform the yaw operation.

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

Each of the two strands (630PL) (630PR) of the pitch wire (630P) disclosed in the sixth embodiment is formed extending from the end tool 620, the pitch wire yaw pulley (612PP1) (612PP2) and the corresponding pitch wire yaw auxiliary pulley (612PS1) (612PS2) crossing and passing through the pitch control section 611 and the actuation control section 613, the corresponding pitch wire yaw auxiliary pulley (612PS1) (612PS2) and the corresponding pitch wire yaw pulley (612PP1) (612PP2) It is wound by crossing and is finally fixedly coupled to a point of the bent portion 641. At this time, each of the pitch wires (630P) (630PL) (630PR) is the pitch wire yaw pulleys (612PP1) (612PP2) winding in direction and the winding direction are opposite to each other.

Therefore, when the user rotates the first handle 614 yaw around the yaw rotation shaft 6121, the pitch wire 630P formed toward the pitch manipulation unit 611 by winding the pitch wire yaw pulleys 612PP1 and 612PP2 moves However, the pitch wire 630P formed toward the end tool 620 by being wound around the pitch wire yaw pulleys 612PP1 and 612PP2, that is, wound with the pitch wire yaw pulleys 612PP1 and 612PP2 from the end tool 620 side. The entering portion and the portion of the pitch wire yaw pulleys 612PP1 and 612PP2 wound to the one fixing point of the bent portion 641 do not move, and as a result, 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 the pulley has a wire (Article 1 wire or second The jaw wire) is wound, and the rotational operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes movement of each wire, resulting in a desired motion of the end tool 620. Furthermore, auxiliary pulleys may be formed on one side of each pulley, and the wire may not be wound multiple times on one pulley by these auxiliary pulleys.

<Seventh embodiment of surgical instrument>

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

61 is a perspective view showing a surgical instrument according to a seventh embodiment of the present invention, FIG. 62 is a side view of the surgical instrument of FIG. 61, and FIG. 63 is an internal perspective view of the surgical instrument of FIG. 61, and FIG. 61 is an internal perspective view showing the wiring structure of the surgical instrument. FIG. 66 is an enlarged view of portion 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 showing a yaw operation of the surgical instrument of Figure 61, Figure 69 is a perspective view showing the pitch operation of the surgical instrument of Figure 61.

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

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 movement of the end tool 720 and the yaw movement of the end tool 720. It includes a yaw control 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, when illustrating the state of use of the surgical instrument 700 of FIG. 61, the user moves the first handle 714 to the Y axis (ie, the pitch rotation axis 7111) while holding the first handle 714 with the palm of the hand. ) To perform a pitch movement, rotate the first handle 714 around the Z axis (i.e., yaw rotation axis 7121) to perform yaw movement, and actuate the thumb and index finger In the state inserted in the 713, the actuation operation unit 713 may be rotated to perform an actuation motion.

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 diverges from the middle to the left and right compared to the first embodiment, and a pitch frame corresponding thereto (7113) is also formed in an approximately'∩' shape so as to branch to the left and right, and pitch rotation shafts 7111 are formed at both ends branched to the left and right of the pitch frame 7113, and as a result, the pitch rotation shaft 7111 becomes the yaw rotation shaft ( 7121). That is, the actuation rotation shaft (7131a) (7131b) and the yaw rotation shaft (7121) are formed at 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 of the pitch frame 7113 branched to the left and right. Therefore, the pitch rotation shaft 7111 may be formed below the actuation rotation shaft 7131a, 7131b and the yaw rotation axis 7121 in the Z-axis direction, so that a part of the user's hand is a'∩' shaped pitch frame. A certain portion can be accommodated in (7113).

Through this configuration, as shown in FIG. 64, the rotation axis of the yaw joint of the operation unit and the rotation axis of the pitch joint can be arranged close together, as well as the rotation axis of the yaw joint and the rotation axis of the pitch joint hold the handle and control yaw and pitch. It is possible to match the wrist joint of the user performing the operation. Therefore, as a result, there is an effect of providing a more natural and intuitive operation feeling in the user's operation.

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

The actuation operation unit 713 includes a first actuation operation unit 713a and a second actuation operation unit 713b. The first actuation control unit 713a includes a first actuation rotation shaft 7131a, a first actuation rotation unit 7132a, a first actuation pulley 713P1, and a first actuation gear 7134a. The second actuation operation unit 713b includes a second actuation rotation shaft 7131b, a second actuation rotation unit 7132b, a second actuation pulley 713P2, and a second actuation gear 7134b. Here, the first actuation rotation unit 7132a and the second actuation rotation unit 7132b may operate as a second handle.

On the other hand, the first actuation rotation part 7132a, the first actuation pulley 713P1, and the first actuation gear 7134a are fixedly coupled to each other, so that they can be rotated together about the first actuation rotation shaft 7131a. Can be. Likewise, the second actuation rotation part 7132b, the second actuation pulley 713P2, and the second actuation gear 7134b are fixedly coupled to each other, so that they can rotate together around the second actuation rotation shaft 7131b. Can be. Here, the first actuation gear 7134a and the second actuation gear 7134b are formed to mesh with each other, and may be formed to rotate together in opposite directions when either side rotates.

The yaw operation unit 712 may include a yaw rotation shaft 7121, an Article 1 yo pulley 712P1, an Article 2 yo pulley 712P2, and a yaw frame 7123. In addition, the yaw control unit 712 is an Article 1 yaw auxiliary pulley (712S1) formed on one side of the Article 1 yaw pulley (712P1), and 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 control unit 713 on the first handle 714. At this time, 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) is connected to the yaw rotation shaft (7121) so as to be rotatable about the yaw rotation shaft (7121). In addition, the Article 1 wire 730J1 may be wound on the Article 1 yo pulley 712P1, and the Article 2 wire 730J2 may be wound on the Article 2 yo pulley 712P2. At this time, Article 1 yaw pulley (712P1) and Article 2 yaw pulley (712P2) may be composed of two pulleys that are formed to face each other and can independently rotate. Therefore, the wound wire and the wound wire can be wound on separate pulleys, 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, so that the first handle 714 and the yaw operation part ( 712) and the actuation control unit 713 can rotate together about the yaw rotation axis 7121.

The pitch control unit 711 may include a pitch frame 7113, 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), J1L mediation pulley (715J1L), J2R mediation pulley (715J2R), and J2L mediation pulley (715J2L) perform the role of the pitch pulley in the above-described embodiments, and the pitch rotation shaft (7111). Can rotate around the center.

On the other hand, Article 1 R wire (730J1R) represents the right wire of both strands of Article 1 wire (730J1), Article 1 R wire (730J1R) is divided into two again, the first to enter the pitch control unit 711 It is divided into a group R wire-in (730J1Rin) and a first group R wire-out (730J1Rout) that is connected to the actuation control unit 713 from the pitch control unit 711.

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

The J1R intermediate pulley 715J1R is formed to face each other and includes two pulleys that rotate together integrally. In addition, one of the pulleys of the J1R mediation pulley 715J1R is coupled to the first article R wire-in (730J1Rin), and the other pulley is coupled to the first article R wire-out (730J1Rout). At this time, as shown in FIG. 66, the direction in which Article 1 R wire-in (730J1Rin) is wound around the J1R mediation pulley 715J1R (counterclockwise as viewed in FIG. 66), and Article 1 R wire-out (730J1Rout). The direction (counterclockwise as viewed in Fig. 66) is the same as the J1R intermediary pulley 715J1R.

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

For example, when Article 1 R wire-in (730J1Rin) is pushed or pulled, the J1R intermediate pulley 715J1R rotates, and thus Article 1 R wire-out (connected through the J1R intermediate pulley 715J1R) 730J1Rout) is pushed or pulled along the J1R mediation pulley 715J1R in the rotational direction of the same J1R mediation pulley 715J1R as the Article 1 R wire-in (730J1Rin). That is, if Article 1 R wire-in (730J1Rin) moves from the J1R mediation pulley (715J1R) to the end tool 720, Article 1 R wire-out (730J1Rout) is from the yaw operation part 712 side to the J1R mediation pulley ( 715J1R). This is the same for Article 1 L wire (730J1L). In this case, the J1R mediation pulley 715J1R and the J1L mediation pulley 715J1L may rotate independently of each other around the pitch rotation shaft 7111. Article 2 wire may also be formed to connect the end tool and the operation unit in the same manner.

The pitch wire end pulley (715P) is formed to be fixedly coupled to the pitch rotation shaft (7111) to rotate together, the pitch rotation shaft (7111) is fixedly coupled to the pitch frame (7113), as a result, the pitch frame ( 7113), the pitch rotation shaft (7111), the pitch wire end pulley (715P) can be rotated together. At this time, the J1R mediation pulley (715J1R), the J1L mediation pulley (715J1L), the J2R mediation pulley (715J2R), and the J2L mediation pulley (715J2L) are each formed to independently rotate around the pitch rotation shaft (7111).

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

First, the actuation operation is as follows.

In the state where the user inserts the index finger into the first actuation rotating part 7132a and the thumb in the second actuation rotating part 7132b, using either one or both fingers, the actuation rotating parts 7332a and 7132b ) Is rotated, the first actuation pulley (713P1) and the first actuation gear (7134a) fixedly coupled with the first actuation rotation unit (7132a) rotates around the first actuation rotation shaft (7131a), and 2 The second actuation pulley 7133b and the second actuation gear 7134b fixedly coupled to the actuation rotation part 7132b rotate around the second actuation rotation shaft 7131b. At this time, the first actuation pulley (713P1) and the second actuation pulley (713P2) rotate in opposite directions, and thus, the first wire (730J1) having one end fixedly coupled to the first actuation pulley (713P1). The second wire 730J2, which has one end fixedly coupled to the second actuation pulley 713P2, is also moved in opposite directions. Then, such a rotational force is transmitted to the end tool 720 through the power transmission unit 730, so that the two jaws 721 and 722 of the end tool 720 perform an actuation operation.

Next, the yaw 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 control unit 713 and the yaw control unit ( The yaw rotation 712 about the yaw rotation shaft 7121 is performed. That is, when the first actuation pulley (713P1) of the first actuation control unit (713a) to which the Article 1 wire (730J1) is fixedly coupled is rotated around the yaw rotation shaft (7121), Article 1 yaw pulley ( Article 1 wire (730J1) wound around 712P1 is moved. Likewise, when the second actuation pulley (713P2) of the second actuation control unit (713b) to which the Article 2 wire (730J2) is fixedly coupled is rotated around the yaw rotation axis (7121), Article 2 yaw pulley ( Article 2 wire (730J2) wound around 712P2 is moved. At this time, the Article 1 wire 730J1 connected to Article 1 721 and Article 2 wire 730J2 connected to Article 2 722, and Article 1 721 and Article 2 ( 722) may be configured to rotate in the same direction. And, such a rotational force is transmitted to the end tool 720 through the power transmission unit 730, and two jaws 721 and 722 of the end tool 720 perform yaw motion.

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 operation part 712 and the actuation operation part 713 rotate together about the yaw rotation axis 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 while holding the first handle 714, the actuation control unit 713, the yaw control unit ( The pitch rotation 712 and the pitch manipulation unit 711 are performed together with the pitch rotation shaft 7111. That is, when the first actuation pulley (713P1) of the first actuation control unit (713a) to which the Article 1 wire (730J1) is fixedly coupled is rotated around the pitch rotation shaft (7111), the J1R intermediary pulley (715J1R) Both strands 730J1R and 730J1L of the Article 1 wire 730J1 coupled to the J1L mediation pulley 715J1L move in the same direction. Similarly, when the second actuation pulley (713P2) of the second actuation control unit (713b) to which the Article 2 wire (730J2) is fixedly coupled is rotated about the pitch rotation shaft (7111), the J2R mediation pulley (715J2R) , Both strands of the Article 2 wire 730J2 coupled to the J2L mediation pulley 715J2L are moved in the same direction. In this case, the Article 1 wire 730J1 and the Article 2 wire 730J2 move in opposite directions. In addition, such a rotational force is transmitted to the end tool 720 through the power transmission unit 730, so that the two jaws 721 and 722 of the end tool 720 perform a pitch operation.

At this time, the pitch frame 7113 is connected to the yaw frame 7123, and the yaw frame 7123 has a first handle 714, a yaw rotation shaft 7121, a first actuation rotation shaft 7131a, and a second actuation rotation shaft ( 7131b), so when the pitch frame 7113 rotates about the pitch rotation shaft 7111, the yaw frame 7123 connected to the pitch frame 7113, the first handle 714, the yaw rotation shaft 7121, and The first actuation rotation shaft 7131a and the second actuation rotation shaft 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, and a pitch wire end pulley 715P is formed in the operation part, and they are connected to each other by a pitch wire 730P, so that the pitch operation of the end tool is more improved according to the pitch operation of the operation part. It can be done easily. The ends of both strands of the pitch wire 730P are fixedly coupled to the corresponding pitch wire end pulley 715P, and each pitch wire end pulley 715P is fixedly coupled to the pitch frame 7113. That is, by the pitch rotation of the operation unit, the pitch frame 7113 and the pitch wire end pulley 715P are also rotated about the pitch rotation shaft 7111, and as a result, both strands of the pitch wire 730P are also rotated in opposite directions. As it moves, the power of additional pitch rotation can be transmitted separately from the pitch motion of the end tool by the first wire 730J1 and the second wire 730J2.

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 the pulley has a wire (Article 1 wire or second The jaw wire) is wound, and the rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes movement of each wire, resulting in a desired motion of the end tool 720. Furthermore, auxiliary pulleys may be formed on one side of each pulley, and the wire may not be wound multiple times on one pulley by these auxiliary pulleys.

In this embodiment, the bent part 741 and the operation part 710 are branched on both sides, and the rotation axis of the yaw joint and the rotation axis of the pitch joint may be as close as possible, such as crossing each other, as shown in FIG. One of the important features is that a space in which a user's hand or wrist can be accommodated is formed. To this end, in the present embodiment, components (pulleys, wires, etc.) of the operation unit 710 are divided into two and disposed on both sides of the branch. However, the configuration for the above characteristics may be variously modified. That is, the components (pulleys, wires, etc.) of the operation unit 710 may be disposed on only one of both branches. 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 operation part 710 may not be branched in both directions, but may be formed in a form that is bent only in one direction. That is, in the structure branched to both sides in the embodiment, one may be omitted. Such modifications and the like can be sufficiently inferred by the description of the present embodiment, and detailed description thereof will be omitted.

<Eighth embodiment of surgical instrument>

Hereinafter, a description will be given of a surgical instrument 800 according to an eighth embodiment of the present invention. 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 compared to 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 motion of the end tool 820 is described based on a 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 part 811 and the actuation manipulation part 813 are formed on the yaw manipulation part 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 the bent portion 841 diverges from the middle to the left and right, and the pitch frame 8113 is also diverged to the 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 and the rotation axis of the pitch joint of the operation unit 810 can be matched with the wrist joint of the user who holds the handle and performs the yaw manipulation and the pitch manipulation. , There is an effect that can provide a more natural and intuitive operation feeling in the user's operation.

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

The difference in the configuration of the eighth embodiment from the sixth embodiment is the same as the difference in the configuration of the seventh embodiment from 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 wire and the pulleys therefor are branched into both strands, and the configuration of the eighth embodiment is also the configuration of the sixth embodiment. Its characteristic is that the path and pulleys for it are branched into both strands. Accordingly, the configuration of the eighth embodiment can be sufficiently understood by describing the sixth and seventh embodiments, and detailed descriptions are omitted.

In this embodiment, the bent portion 841 and the operation unit 810 are branched to both sides, and the rotation axis of the yaw joint and the rotation axis of the pitch joint may be as close as possible, such as crossing each other, as in the case of FIG. One of the important features is that a space in which a user's hand or wrist can be accommodated is formed in a proximity location. To this end, in the present embodiment, components (pulleys, wires, etc.) of the operation unit 810 are divided into two and disposed on both sides of the branch. However, the configuration for the above characteristics may be variously modified. That is, the components (pulleys, wires, etc.) of the operation unit 810 may be disposed on only one of both branches. In addition, in order to form a space in which the user's hand or wrist can be accommodated, the bent portion 841 and the operation portion 810 may not be branched in both directions, but may be formed in a form that is bent only one side. That is, in the present embodiment, in the structure branched to both sides, one may be omitted. Such modifications and the like can be sufficiently inferred by the description of the present embodiment, and detailed description thereof will be omitted.

<The 9th 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 the operation part of the surgical instrument 900 compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2). The composition of 910 is characteristically different. In this way, a different configuration compared to the first embodiment will be described in detail.

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

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 yaw auxiliary pulley (912S1) of Fig. 77, and Article 1 yaw pulley (112P1) of Fig. 25(a) is It corresponds to the Article 1 yaw pulley (912P1) of 77, the first actuation pulley (113P1) and the second actuation pulley (113P2) of Figure 25 (a) is the first actuation pulley (913P1) of Figure 77 and It corresponds to the second actuation pulley 913P2.

Here, this 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 attached to the second actuation pulley (913P2). Are combined.

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

Since the rotations of the two actuation pulleys are synchronized with each other due to the gears, etc., both strands of the Article 1 wire 930J1 are not necessarily wound around one actuation pulley, and the same even if wound around different actuation pulleys. The effect can be implemented. Accordingly, a configuration in which both strands of the Article 1 wire 930J1 are wound around each actuation pulley as shown in FIG. 25(b) is also possible and sufficiently inferred, and a detailed description thereof will be omitted.

<10th 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 the operation part of the surgical instrument 1000 compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2). The composition of (1010) is characteristically different. In this way, a different configuration compared to the first embodiment will be described in detail.

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

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 FIG. 26 corresponds to Article 1 yaw auxiliary pulley (1012S1) of FIG. 81, and Article 1 yaw pulley (112P1) of FIG. Corresponding to the pulley (1012P1), the first actuation pulley (113P1) and the second actuation pulley (113P2) of FIG. 26 is the first actuation pulley (1013P1) and the second actuation pulley (1013P2) of FIG. Corresponds.

Here, this 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) to rotate together, and the second actuation pulley (1013P2) is fixedly coupled to the second actuation gear (10134b) to rotate together. And, the first actuation gear (10134a) and the second actuation gear (10134b) are formed to mesh with each other so that the rotation of the two actuation pulleys are synchronized. Therefore, when one actuation pulley rotates, the other actuation pulley rotates accordingly.

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

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

With such a configuration, the actuation pulley can be disposed behind the 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 described above (see 100 in FIG. 2), the operation part of the surgical instrument 1100 The composition of (1110) is characteristically different. In this way, a different configuration compared to the first embodiment will be described in detail.

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

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 Fig. 27 corresponds to Article 1 yaw auxiliary pulley (1112S1) of Fig. 84, and Article 1 yaw pulley (112P1) of Fig. Corresponding to the pulley (1112P1), the first actuation pulley (113P1) and the second actuation pulley (113P2) of FIG. Corresponds.

Here, this 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 purpose, the first actuation pulley (1113P1) is fixedly coupled to the first actuation gear (11134a) and rotates together, and the second actuation pulley (1113P2) is fixedly coupled to the second actuation gear (11134b). Rotate 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 are synchronized. Therefore, when one actuation pulley rotates, the other actuation pulley rotates accordingly.

And, in order to rotate the first actuation gear (11134a) and the second actuation gear (11134b) that are far apart from each other, the first actuation gear (11134a) and the second actuation gear (11134b) have their diameters Compared to the previous embodiments, it may be formed to a certain degree larger.

It is also different from the first embodiment and the like in that the positional relationship (precedence relationship) between the yaw pulley and the yaw auxiliary pulley is changed. That is, despite the direct joint, the pulley located on the right side in the drawing becomes the Article 1 yaw pulley (1112P1), and the rotation axis of the Article 1 yaw pulley (1112P1) becomes the yaw rotation axis. And in order to implement this, the Article 1 wire passing through Article 1 pitch auxiliary pulley-a (1111S1a) passes through Article 1 yaw pulley (1112P1) after winding Article 1 yaw auxiliary pulley (1112S1) and first actuation. It is fixedly coupled to the pulley 1113P1. In addition, the Article 1 wire that has passed through the Article 1 pitch auxiliary pulley-b (not shown) does not go through the Article 1 yaw auxiliary pulley (1112S1), but immediately passes through the Article 1 yaw pulley (1112P1) and the first actuation pulley ( 1113P1) is fixedly coupled.

With such a configuration, the yaw rotation shaft can be disposed closer to the pitch rotation shaft than in other embodiments, and as a result, there is an effect of providing a more natural and intuitive operation feeling in the user's operation. In addition, by such a configuration, the actuation pulley can be disposed behind the 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.

<The 12th embodiment of the 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 is the configuration of the operation unit 1210 of the surgical instrument 1200 compared to the first embodiment of the present invention (see 100 in FIG. 2) 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, etc. of the surgical instrument of FIG. 88.

As in the first embodiment, the joint configuration of the manipulation unit 1210 for manipulating the motion of the end tool (not shown) will be described based on a wire connected from the end tool (not shown) to the manipulation unit 1210, the pitch manipulation unit 1211, a yaw operation part 1212, and an actuation operation part 1213 are sequentially formed.

A characteristic difference between the configuration of the twelfth embodiment and the configuration of the first embodiment is that the pitch rotation shaft 12111 is formed to be substantially spaced apart from the yaw rotation shaft 12121, similar to the features of the seventh embodiment. Through this, the yaw rotation axis 12121 of the yaw joint and the pitch rotation axis 12111 of the pitch joint cross each other as shown in FIG. A 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 the bent portion 741 and the pitch frame 7113 are branched to the left and right, and both ends branched to the left and right of the pitch frame 7113 and the left and right sides of the bent portion 741 Both ends of the branch are connected to each other through a pitch rotation shaft 7111. In contrast, in the twelfth embodiment, as shown in FIG. 88, the bent portion 1241 and the operation portion 1210 are not branched in both directions, but are bent in only one side.

Through this configuration, without having a separate intermediate pulley (715J1R, 715J1L, etc.) as in the seventh embodiment, the first wire (not shown) and the second wire from the end tool (not shown) to the operation unit 1210 Joe wire (not shown) can be connected.

Through this, the yaw rotation shaft 12121 of the yaw joint of the manipulation unit 1210 and the pitch rotation shaft 12111 of the pitch joint may be aligned with the wrist joint of the user who holds the handle and performs yaw manipulation and pitch manipulation. In other words, it is possible to provide a more natural and intuitive operation feeling in the user's operation.

The configuration of the operation unit 1210 of the twelfth embodiment is a structure of the surgical instrument 100 and the yaw pulley, pitch pulley, etc. 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. Therefore, the configuration according to the twelfth embodiment can be sufficiently inferred through the configuration of the first embodiment and the configuration of the seventh embodiment, and a detailed description will be omitted.

As described above, the present invention has been described with reference to an embodiment shown in the drawings, but this is only exemplary, and those of ordinary skill in the art will understand that various modifications and variations of the embodiment are possible therefrom. Therefore, the true technical 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 panel
113: actuation control unit
114: first handle
120: end tool
130: power transmission unit
140: connection
141: bend

Claims (13)

Article 1 (jaw) and Article 2 (jaw) rotatable independently of each other;
It is combined with the first set, and is formed so as to be rotatable about the first axis, and the first link of the article 1 wire to which one end of the article 1 wire is coupled and the other end of the article 1 wire are combined J11 pulley in 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 shaft formed to form a predetermined angle with the first shaft;
The Article 2 wire first coupling part and the Article 2 wire coupled to the Article 2 and formed to be rotatable about an axis substantially the same or parallel to the first axis, and to which one end of the Article 2 wire is coupled A J21 pulley in which the other end of the Article 2 wire is coupled to the second connecting portion;
Including; J22 pulley and J24 pulley formed on one side of the J21 pulley and formed to be rotatable about an axis substantially the same or parallel to the second axis,
Article 1 wire is formed so that at least a portion of the pulley, J12 pulley, J14 pulley,
Article 2 wire is the end tool of the surgical instrument, characterized in that formed to contact at least a portion of the J22 pulley, J21 pulley, J24 pulley. Article 1 (jaw) and Article 2 (jaw) rotatable independently of each other;
A J11 pulley that is coupled to the first set, is formed to be rotatable about a first axis, and has a first wire coupling member to which both ends of the first wire are coupled to each other;
A J12 pulley and a J14 pulley formed on one side of the J11 pulley and rotatable about a second shaft formed to form a predetermined angle with the first shaft;
A J21 pulley which is coupled to the second set, is formed to be rotatable about an axis substantially the same or parallel to the first axis, and has a second wire coupling member to which both ends of the second wire are respectively coupled;
Including; J22 pulley and J24 pulley formed on one side of the J21 pulley and formed to be rotatable about an axis substantially the same or parallel to the second axis,
Article 1 wire is formed so that at least a portion of the pulley, J12 pulley, J14 pulley,
Article 2 wire is the end tool of the surgical instrument, characterized in that formed to contact at least a portion of the J22 pulley, J21 pulley, J24 pulley. The method of claim 1,
The Article 1 wire first coupling portion and the Article 1 wire second coupling portion End tool of a surgical instrument, characterized in that formed so that both ends of the Article 1 wire overlap each other. The method of claim 2,
One end of the Article 1 wire is coupled to one side of the Article 1 wire coupling member, and the other end of the Article 1 wire is coupled to the other side of the Article 1 wire coupling member,
A surgical instrument, characterized in that one end of the Article 2 wire is coupled to one side of the Article 2 wire coupling member, and the other end of the Article 2 wire is coupled to the other side of the Article 2 wire coupling member. End tools. The method of claim 2,
The Article 1 wire coupling member is formed on the opposite side of the Article 1 and Article 2,
The Article 2 wire coupling member is an end tool of a surgical instrument, characterized in that formed on the opposite side of the Article 1 and Article 2. The method according to claim 1 or 2,
It is perpendicular to the first axis, based on a plane formed between the J11 pulley and the J21 pulley,
The Article 1 wire or the Article 2 wire is input to the end tool from one side of the one plane and output to the one side of the plane. The end tool of a surgical instrument. The method according to claim 1 or 2,
A J13 pulley and a J15 pulley formed to be rotatable about an axis substantially parallel to the second axis, and formed to face each other;
An end tool of a surgical instrument comprising a; J23 pulley and J25 pulley formed to be rotatable about an axis substantially parallel to the second axis, and formed to face each other. The method of claim 7,
For each of the J13 pulley, the J12 pulley, the J14 pulley, and the J15 pulley, in a plane perpendicular to the first axis and including a rotation axis of each of the pulleys,
The first wire is formed to contact the upper side of the J13 pulley, the lower side of the J12 pulley, the lower side of the J14 pulley, and the upper side of the J15 pulley in order,
For each of the J23 pulley, the J22 pulley, the J24 pulley, and the J25 pulley, in a plane perpendicular to the first axis and including a rotation axis of each of the pulleys,
The Article 2 wire is an end tool of a surgical instrument, characterized in that formed to sequentially contact the lower side of the J23 pulley, the upper side of the J22 pulley, the upper side of the J24 pulley, and the lower side of the J25 pulley. The method according to claim 1 or 2,
A J16 pulley formed on one side of the J11 pulley and rotatable about a third axis formed on one side of the first shaft; And
An end tool of a surgical instrument further comprising a; J26 pulley formed on one side of the J21 pulley and formed to be rotatable about an axis substantially the same or parallel to the third axis. The method of claim 9,
By the J16 pulley, two strands of the first wire wound around the J11 pulley are disposed on one side with respect to a plane perpendicular to the second axis and 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 are disposed on the other side based on a plane passing through the first axis. End tools. The method of claim 9,
The diameter of the J16 pulley is smaller than the diameter of the J11 pulley,
End tool of a surgical instrument, characterized in that the diameter of the J26 pulley is formed to be smaller than the diameter of the J21 pulley. The method of claim 9,
One side of the first wire wound around the J11 pulley is formed to pass between the J11 pulley and the J16 pulley,
End tool of a surgical instrument, characterized in that one side of the second wire wound around the J21 pulley is formed to pass between the J21 pulley and the J26 pulley. The method of claim 9,
The first wire is located on the inner tangent line of the J11 pulley and the J16 pulley, and the rotation angle of the J11 pulley is extended by the J16 pulley,
The second wire is located on the inner tangential line of the J21 pulley and the J26 pulley, and the end tool of the surgical instrument, characterized in that the rotation angle of the J21 pulley is extended by the J26 pulley.

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