JP7334993B2 - surgical instrument - Google Patents

Description

The present invention relates to surgical instruments and, in particular, to manually actuable surgical instruments for use in laparoscopic or a wide variety of surgical procedures.

Medically, surgery means to cure a disease by applying an operation such as cutting or tearing the skin, mucous membranes, or other tissues using medical equipment. In particular, laparotomy, in which the skin of the surgical site is cut open to treat, shape, or remove internal organs, causes problems such as bleeding, side effects, patient pain, and scars. Therefore, recently, surgery performed by forming a predetermined hole in the skin and inserting only a medical device such as a laparoscope, a surgical instrument, a microscope for microsurgery, or a surgery using a robot is attracting attention as an alternative.

Surgical instruments are operated directly by a doctor's hand or by using a robot arm, using a predetermined drive unit, with an end tool provided at one end of a shaft that passes through a hole drilled in the skin. A tool for operating on a surgical site by manipulating it. Rotation, gripping, cutting, etc., are performed through predetermined structures of the end tool provided on the surgical instrument.

However, existing surgical instruments have a problem in that the end tool portion is not bent, making it difficult to approach a surgical site and perform various surgical operations. In order to compensate for this, a surgical instrument was developed that allows the end tool to bend. There is a problem that it is not intuitively consistent with the operation of performing a surgical operation, and it is not easy to operate intuitively from the operator's point of view, and it takes a long time to learn how to use it. .

The aforementioned background art is technical information possessed by the inventor for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily disclosed to the general public before the application of the present invention. However, it cannot be regarded as a publicly known technology.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems, and to intuitively match the actual bending of the end tool or the operation of the surgical operation with the corresponding operation of the operation unit. The purpose is to provide surgical instruments for More specifically, for that purpose, an end tool having various degrees of freedom, an operation part having a structure that allows the operation of the end tool to be intuitively operated, and the end tool being able to operate according to the operation of the operation part, Provided is a power transmission section that transmits the driving force of the operation section to the end tool.

The present invention provides an end tool that is rotatable in at least two or more directions; a pitch operator that controls the pitch motion of the end tool; and a yaw of the end tool. yaw) said pitch operator or said yaw operator, including a yaw operator for controlling motion and an actuation operator for controlling actuation motion of said end tool; at least one of which includes an operating portion formed by a joint member that bends in one or more directions; a power transmission portion that transmits the operation of the operating portion to the end tool; one end to which the end tool is coupled, and the other end to which the operation section is coupled, and a connection section that couples the operation section and the end tool; A part provides a surgical instrument characterized by being formed to extend toward the end tool.

According to the present invention, since the operating direction of the operating section by the operator and the operating direction of the end tool are intuitively the same, the operator's convenience is improved, and the accuracy and reliability of surgery are improved. Also, it is possible to obtain the effect of improving quickness and the like.

FIG. 10 is a conceptual diagram of a pitch operation of a conventional surgical instrument; FIG. 2 is a conceptual diagram of yaw operation of a conventional surgical instrument; FIG. 4 is a conceptual diagram of pitch motion of another conventional surgical instrument; FIG. 4 is a conceptual diagram of yaw motion of another conventional surgical instrument; FIG. 4 is a conceptual diagram of the pitch operation of the surgical instrument according to the present invention; FIG. 4 is a conceptual diagram of yaw motion of the surgical instrument according to the present invention; 1 is a side view showing a surgical instrument 100 according to a first embodiment of the invention; FIG. 3 is an internal detail view of the surgical instrument 100 of FIG. 2. FIG. In FIG. 3, it is an internal detailed view showing the yaw operation section 112 of the surgical instrument 100. FIG. In FIG. 3, it is an internal detailed view showing the actuation operation section 113 of the surgical instrument 100. FIG. FIG. 2 is a conceptual diagram of an operating portion of the surgical instrument 100 of FIG. 1; 4A and 4B are views showing various modifications of the operation part 110 of the surgical instrument 100 according to the first embodiment of the present invention; 4A and 4B are views showing various modifications of the operation part 110 of the surgical instrument 100 according to the first embodiment of the present invention; 4A and 4B are views showing various modifications of the operation part 110 of the surgical instrument 100 according to the first embodiment of the present invention; FIG. 3 is an assembled perspective view of an end tool applied to the surgical instrument 100 of FIG. 2; FIG. 7B is an exploded perspective view of the FIG. 7A end tool; FIG. 7B is a perspective view showing the end tool of FIG. 7A with the jaw base 123 and the joint member 125 omitted; 7B is a front view of the articulation member 125 of the end tool of FIG. 7A; FIG. FIG. 7B is a perspective view showing the end tool of FIG. 7A performing a yaw motion; FIG. 7B is a perspective view showing the end tool of FIG. 7A performing a yaw motion; 7B is a perspective view showing the end tool of FIG. 7A performing an actuation movement and being closed; FIG. It is drawing which shows roughly the pitch motion of 1st Embodiment of the surgical instrument of this invention. It is drawing which shows roughly the pitch motion of 2nd Embodiment of the surgical instrument of this invention. It is drawing which shows roughly the pitch motion of 3rd Embodiment of the surgical instrument of this invention. FIG. 4 is a drawing schematically showing the yaw motion of the first, second and third embodiments of the surgical instrument of the present invention; Fig. 2 shows a surgical instrument 200 according to a second embodiment of the present invention; Fig. 2 shows a surgical instrument 200 according to a second embodiment of the present invention; Fig. 3 shows a surgical instrument 300 according to a third embodiment of the present invention; Fig. 3 shows a surgical instrument 300 according to a third embodiment of the present invention; FIG. 10 is a drawing showing a surgical instrument 400 according to a fourth embodiment of the present invention; FIG. FIG. 10 is a drawing showing a surgical instrument 400 according to a fourth embodiment of the present invention; FIG. FIG. 10 is a conceptual diagram of the pitch operation of the fifth embodiment of the surgical instrument of the present invention; FIG. 11 is a conceptual diagram of yaw motion of the fifth embodiment of the surgical instrument of the present invention; FIG. 11 is a conceptual diagram of the pitch operation of the sixth embodiment of the surgical instrument of the present invention; FIG. 11 is a conceptual diagram of the yaw motion of the surgical instrument according to the sixth embodiment of the present invention; FIG. 11 is a conceptual diagram of the pitch motion of the seventh embodiment of the surgical instrument of the present invention; FIG. 11 is a conceptual diagram of yaw operation of the surgical instrument according to the seventh embodiment of the present invention; Fig. 10 is a drawing showing a surgical instrument 500 according to a fifth embodiment of the present invention; Fig. 10 is a drawing showing a surgical instrument 500 according to a fifth embodiment of the present invention; FIG. 10 is a drawing showing a surgical instrument 600 according to a sixth embodiment of the present invention; FIG. FIG. 10 is a drawing showing a surgical instrument 600 according to a sixth embodiment of the present invention; FIG. Fig. 10 is a drawing showing a surgical instrument 700 according to a seventh embodiment of the present invention; Fig. 10 is a drawing showing a surgical instrument 700 according to a seventh embodiment of the present invention; Fig. 10 is a drawing showing a surgical instrument 700 according to a seventh embodiment of the present invention; FIG. 11 is a drawing showing a surgical instrument 800 according to an eighth embodiment of the present invention; FIG. FIG. 11 is a drawing showing a surgical instrument 800 according to an eighth embodiment of the present invention; FIG. FIG. 11 is a drawing showing a surgical instrument 800 according to an eighth embodiment of the present invention; FIG. FIG. 22 is a drawing showing a surgical instrument 800' according to a modified example of the eighth embodiment of the present invention; FIG. FIG. 22 is a drawing showing a surgical instrument 800' according to a modified example of the eighth embodiment of the present invention; FIG. FIG. 10 is a drawing showing a surgical instrument 900 according to a ninth embodiment of the present invention; FIG. FIG. 10 is a drawing showing a surgical instrument 900 according to a ninth embodiment of the present invention; FIG. FIG. 10 is a drawing showing a surgical instrument 900 according to a ninth embodiment of the present invention; FIG. FIG. 20 is a drawing showing a surgical instrument 1000 according to a tenth embodiment of the present invention; FIG. FIG. 20 is a drawing showing a surgical instrument 1000 according to a tenth embodiment of the present invention; FIG. FIG. 3 is a drawing showing a first modification of the end tool of the surgical instrument illustrated in FIG. 2 and others; 3 is a drawing showing a second modification of the end tool of the surgical instrument illustrated in FIG. 2 and others. FIG. 3 is a drawing showing a second modification of the end tool of the surgical instrument illustrated in FIG. 2 and others. FIG. 3 is a drawing showing a third modified example of the end tool of the surgical instrument illustrated in FIG. 2 and others. FIG. 3 is a drawing showing a third modified example of the end tool of the surgical instrument illustrated in FIG. 2 and others. FIG. 3 is a drawing showing a third modified example of the end tool of the surgical instrument illustrated in FIG. 2 and others. FIG. FIG. 3 is a drawing showing a first modification of the pitch drive joint of the surgical instrument illustrated in FIG. 2 and others; 3 is a drawing showing a second modification of the pitch drive joint of the surgical instrument illustrated in FIG. 2 and others. FIG. 3 is a drawing showing a first modified example of the yaw operation section of the surgical instrument shown in FIG. 2 and the like; FIG. 3 is a drawing showing a second modified example of the yaw operation section of the surgical instrument shown in FIG. 2 and the like; FIG. 3 is a drawing showing a third modified example of the yaw operation section of the surgical instrument shown in FIG. 2 and the like; FIG. 19B is a drawing showing a first variation of the pitch/yaw drive joint of the surgical instrument illustrated in FIG. 19A and elsewhere (Ball Joint-B); FIG. 19B is a drawing showing a second variation of the pitch/yaw drive joint of the surgical instrument such as that shown in FIG. 19A (Universal Joint-U); FIG. FIG. 19B (SB) illustrates a third variation of the pitch/yaw drive joint of the surgical instrument such as illustrated in FIG. 19A; 19B (SU) shows a fourth variation of the pitch/yaw drive joint of the surgical instrument illustrated in FIG. 19A , etc. FIG. FIG. 19B (JB) shows a fifth variation of the pitch/yaw drive joint of the surgical instrument such as that shown in FIG. 19A; 19B (JU) shows a sixth variation of the pitch/yaw drive joint of the surgical instrument illustrated in FIG. 19A , etc. FIG. 19B is a perspective view of the surgical instrument illustrated in FIG. 19A with a roll function added; FIG. FIG. 51 is a perspective view showing how the surgical instrument of FIG. 50 rolls; FIG. 51 is a perspective view showing how the surgical instrument of FIG. 50 rolls; FIG. 51 is a perspective view showing how the surgical instrument of FIG. 50 rolls; FIG. 51 is a perspective view showing how the surgical instrument of FIG. 50 rolls; FIG. 51 is a perspective view showing how the surgical instrument of FIG. 50 rolls;

Although the present invention is capable of various transformations and can have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail. However, they should not be construed as limiting the invention to any particular embodiment, but rather encompassing all transformations, equivalents or alternatives falling within the spirit and scope of the invention. In the description of the present invention, when it is determined that a detailed description of related art may obscure the gist of the present invention, the detailed description thereof will be omitted.

Terms such as first and second are used to describe various components, but the components are not limited by the terms. The terms are only used to distinguish one component from another.

The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "including" or "having" specify that the features, numbers, steps, acts, components, parts, or combinations thereof described in the specification are present. It should be understood that the presence or addition of one or more other features, figures, steps, acts, components, parts, or combinations thereof is not precluded.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. , and redundant explanations related thereto are omitted.

In addition, in the description of various embodiments of the present invention, each embodiment should not be interpreted or implemented independently, and the technical idea described in each embodiment may be may be interpreted and/or practiced in combination with other embodiments described herein.

<First embodiment of surgical instrument> (E1+H1a)
In the surgical instrument according to the present invention, when the operating section is rotated in any one direction, the end tool operates the operating section for at least one or more motions of pitch motion, yaw motion, and actuation motion. One feature is that it intuitively rotates in the same direction as the direction.

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

Referring to FIG. 1A, in performing the pitch motion of the conventional surgical instrument, the end tool 120a is formed in front of the rotation center 121a of the end tool, and the operation part 110a is formed behind the rotation center 111a of the operation part. When the operation part 110a is rotated clockwise, the end tool 120a is also rotated clockwise, and when the operation part 120a is rotated counterclockwise, the end tool 120a is also rotated. , are formed to rotate in a counterclockwise direction. On the other hand, referring to FIG. 1B, in performing the yaw motion of the conventional surgical instrument, the end tool 120a is formed ahead of the rotation center 121a of the end tool, and the operation part 110a is formed ahead of the rotation center 111a of the operation part. When the operation part 110a is rotated clockwise in the state formed on the rear side, the end tool 120a is also rotated clockwise, and when the operation part 120a is rotated counterclockwise, the end tool 120a is also configured to rotate in a counterclockwise direction. In that case, when viewed from the left-right direction of the user, if the user moves the operation unit 110a to the left, the end tool 120a moves to the right, and if the user moves the operation unit 110a to the right, the end tool 120a start moving to the left. As a result, there is a problem that the user's operation is not easy because the user's operation direction and the end tool's operation direction are opposite to each other.

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

Referring to FIG. 1C, some of the conventional surgical instruments are formed in a mirror symmetrical shape, and in performing a pitch operation, an end tool 120b is formed ahead of a rotation center 121b of the end tool, and an operation part When the operating portion 110b is rotated clockwise while the end tool 110b is formed on the rear side of the rotation center 111b of the operating portion, the end tool 120b rotates counterclockwise and rotates the operating portion 110b counterclockwise. Rotation in a clockwise direction causes the end tool 120b to be configured to rotate in a clockwise direction. In that case, when viewed from the viewpoint of the rotation directions of the operation section and the end tool, the rotation direction in which the user rotates the operation section 110b and the resulting rotation direction of the end tool 120b are opposite to each other. As a result, the user is confused about the direction of operation, and the motion of the joints is not intuitive, which causes errors. In addition, referring to FIG. 1D, in performing the yaw motion, the end tool 120b is formed in front of the rotation center 121b of the end tool, and the operation part 110b is formed behind the rotation center 111b of the operation part. When the operating portion 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating portion 110b is rotated counterclockwise, the end tool 120b rotates clockwise. formed to rotate to In this case, when viewed from the viewpoint of the rotation directions of the operation section and the end tool, the rotation direction in which the user rotates the operation section 110b and the resulting rotation direction of the end tool 120b are opposite to each other. As a result, the user is confused about the direction of operation, and the motion of the joints is not intuitive, which causes errors.

In order to solve such a problem, the surgical instrument according to one embodiment of the present invention illustrated in FIGS. 1E and 1F forms the end tool 120c ahead of the rotation center 121c of the end tool, The operation part 110c is also formed ahead of the rotation center 111c of the operation part, and one feature is that the operations of the operation part 110c and the end tool 120c are intuitively matched.

Stated differently, in the case of conventional surgical instruments such as FIGS. 1A, 1B, 1C and 1D, the end tool is located beyond its center of rotation, while the end tool is located beyond its center of rotation. The part is formed behind the center of rotation of itself, and through the operation of the operation part that moves the rear side while the front side is fixed, the end tool that moves the front side is moved while the rear side is fixed. Therefore, structurally, it is a structure that does not match intuitively. As a result, the operation of the operation unit and the operation of the end tool are inconsistent in terms of the left-right direction or the rotation direction. There is a problem that it becomes difficult and induces mistakes. On the other hand, in the surgical instrument according to one embodiment of the present invention, both the end tool and the operation part move based on the center of rotation formed on the rear side, so that the operations intuitively match each other structurally. It can be said that As a result, the user can intuitively and quickly perform maneuvers in the direction of the end tool, which has the advantage of significantly reducing the possibility of inducing errors. In the following, it will be explained in more detail.

2 is a side view showing the surgical instrument 100 according to the first embodiment of the present invention, FIG. 3 is a detailed internal view of the surgical instrument 100 of FIG. 2, and FIG. 5 is a detailed internal view showing the yaw operation portion 112 of the surgical instrument 100, and FIG. 5 is a detailed internal view showing the actuation operation portion 113 of the surgical instrument 100 in FIG.

2 to 5, the surgical instrument 100 according to the first embodiment of the present invention includes an operating part 110, an end tool 120, a power transmission part 130 and a connection part 140. As shown in FIG. Here, the connecting portion 140 is formed in the shape of a hollow shaft, in which one or more wires (described later) are accommodated, one end of which is coupled with the operation portion 110, and the other end of which is connected to the operating portion 110. An end tool 120 is coupled to the end, and serves to connect the operation part 110 and the end tool 120 .

Specifically, the operating part 110 is formed at one end of the connecting part 140 and has an interface that can be directly operated by a doctor, such as a knob shape, a stick shape, or a lever shape. The end tool 120 connected to the interface and inserted into the patient's body performs a predetermined operation to perform surgery. Here, although FIG. 2 illustrates that the operation part 110 is formed in a knob shape, the concept of the present invention is not limited to this, and is connected to the end tool 120 to It is possible to use various forms of operation units that can operate the .

The end tool 120 is formed at the other end of the connecting part 140 and is inserted into a surgical site to perform operations necessary for surgery. As an example of such an end tool 120, as shown in FIG. 2, a pair of jaws 121, 122 (FIG. 7A) are used for gripping. However, the spirit of the present invention is not so limited, and a wide variety of devices for surgery may be used as the end tool 120 . For example, a one-armed cautery configuration would also be used as an end tool. The end tool 120 is connected to the operation part 110 by the power transmission part 130, and the driving force of the operation part 110 is transmitted through the power transmission part 130 to perform grip operation, cutting ( It performs operations necessary for surgery such as cutting and suturing.

Here, the end tool 120 of the surgical instrument 100 according to the first embodiment of the present invention is rotatable in at least two directions. It is configured to perform yaw and actuation movements about the Z-axis of FIG. 2 at the same time as performing pitch movement. This will be described later in detail.

The power transmission unit 130 connects the operation unit 110 and the end tool 120 to transmit the driving force of the operation unit 110 to the end tool 120, and includes a large number of wires, pulleys, links, joints, gears, and the like. It's okay.

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

(operation unit)
2 to 5, the operation part 110 of the surgical instrument 100 according to the first embodiment of the present invention includes a pitch operator 111 for controlling the pitch motion of the end tool 120 and a pitch operator 111 . , a yaw operator 112 that controls the yaw movement of the end tool 120 and an actuation operator 113 that controls the actuation movement of the end tool 120 .

To give an example of the usage state of the surgical instrument 100 shown in FIG. 2, the user rotates the pitch drive handle 1112 to perform a pitch motion while holding the pitch drive handle 1112 of the pitch operation unit 111 with the palm of the hand. , the yaw operation part 112 is rotated to perform a yaw motion while the index finger is sandwiched between the yaw operation parts 112, the actuation operation part 113 is rotated while the thumb is sandwiched between the actuation operation parts 113, Do actuation exercises.

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

First, the pitch motion means a vertical motion with respect to the extension direction (the X-axis direction in FIG. 2) of the connecting part 140, that is, a rotating motion about the Y-axis in FIG. In other words, it means that the end tool 120 extending in the extension direction of the connecting part 140 (the X-axis direction in FIG. 2) rotates up and down about the Y-axis. Next, the yaw motion means a lateral motion with respect to the extending direction (the X-axis direction in FIG. 2) of the connecting part 140, that is, a rotating motion about the Z-axis in FIG. In other words, it means that the end tool 120 extending in the extension direction of the connecting part 140 (the X-axis direction in FIG. 2) rotates left and right about the Z-axis. On the other hand, the actuation motion rotates about the same rotation axis as the yaw motion, but the two jaws 121 and 122 (FIG. 7A) rotate in opposite directions to each other. jaw) to contract and open. That is, two jaws 121 and 122 (FIG. 7A) formed on the end tool 120 rotate in opposite directions about the Z axis.

Here, in the surgical instrument 100 according to the first embodiment of the present invention, when the operating part 110 is rotated in any one direction, the end tool 120 intuitively moves in the same operating direction as the operating part 110. One feature is that it rotates in one direction. In other words, if the pitch operation portion 111 of the operation portion 110 is rotated in any one direction, the end tool 120 also intuitively rotates in the same direction as the one direction to perform a pitch motion, and the yaw motion of the operation portion 110 is increased. When the operation part 112 is rotated in any one direction, the end tool 120 also intuitively rotates in the same direction as the one direction to perform yaw operation. Here, intuitively, the same direction means that the moving direction of the index finger of the user holding the operation unit 110 and the moving direction of the distal end of the end tool 120 are substantially the same direction. It may be possible to elaborate. However, here, the same direction is not a direction that perfectly matches on the three-dimensional coordinates. It goes without saying that if the index finger moves to the right, the same can be understood such that the distal end of the end tool 120 also moves to the right.

For this reason, in the surgical instrument 100 according to the first embodiment of the present invention, the operating portion 110 and the end tool 120 are arranged on the same plane with respect to a plane perpendicular to the extension axis (X-axis) of the connecting portion 140. One feature is that it is formed in a direction. That is, when viewed with reference to the YZ plane of FIG. 2, the operation part 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. of. In other words, the direction in which the end tool 120 is formed at one end of the connecting portion 140 and the direction in which the operating portion 110 is formed at the other end of the connecting portion 140 are the same with respect to the YZ plane. It can also be said that it is the direction. Or, to express it in other words, it could be said that the operation part 110 is formed in the direction away from the body of the user who holds it, that is, in the direction in which the end tool 120 is formed. .

Specifically, in the case of a conventional surgical instrument, the direction in which the user operates the operation part and the actual operating direction of the end tool are different from each other and do not match intuitively. However, it takes a long time to get used to moving the end tool in the desired direction.

In order to solve such problems, the surgical instrument 100 according to the first embodiment of the present invention is configured so that the operation direction of the operation part 110 and the operation direction of the end tool 120 are intuitively the same. Therefore, one feature is that the operation part 110 and the end tool 120 are formed on the same side when viewed on the basis of the YZ plane including the pitch drive joint 1111 . A more detailed description of this is as follows.

2 to 5, the operation part 110 of the surgical instrument 100 according to the first embodiment of the present invention includes a pitch operator 111 for controlling the pitch motion of the end tool 120 and a pitch operator 111 . , a yaw operator 112 that controls the yaw movement of the end tool 120 and an actuation operator 113 that controls the actuation movement of the end tool 120 .

The pitch operating portion 111 includes a pitch operating joint 1111 and a pitch operating grip 1112 . Here, the pitch driving joint 1111 is rotatable around the Y-axis, and the pitch driving handle 1112 is connected to the pitch driving joint 1111 to rotate together with the pitch driving joint 1111 . Here, since the pitch drive joint is a bending joint, it can be said that if the pitch drive handle rotates around the Y axis, the pitch drive joint will bend or break. Then, the breaking of the pitch-driven joint is expressed as the rotation of the pitch-driven joint.

For example, when the user rotates the pitch drive handle 1112 while holding the pitch drive handle 1112, the pitch drive joint 1111 connected to the pitch drive handle 1112 rotates together, and such a rotational force is generated. , is transmitted to the end tool 120 via the power transmission section 130 , and the end tool 120 rotates in the same direction as the rotation direction of the pitch drive joint 1111 . That is, if the pitch operation unit 111 rotates clockwise about the pitch drive joint 1111, the end tool 120 also rotates clockwise about an axis parallel to the rotation axis of the pitch drive joint 1111, and vice versa. Furthermore, if the pitch operation unit 111 rotates counterclockwise around the pitch drive joint 1111, the end tool 120 also rotates counterclockwise around an axis parallel to the rotation axis of the pitch drive joint 1111. becomes.

Here, the pitch drive joint 1111 is also a bending joint member. Specifically, the pitch drive joint 1111 is formed in a hollow cylindrical shape, and a large number of grooves 1111a are formed along one direction (the X-axis direction in FIG. 2) on the outer peripheral surface so as to be bendable. be. At that time, a rib 1111b for determining the bending direction of the pitch drive joint 1111 is formed between the respective grooves 1111a. That is, bending is not performed at the position where the rib 1111b is formed, and bending is performed at the portion where the rib 1111b is not formed. 2, ribs 1111b are formed along both lateral surfaces of the pitch drive joint 1111, but the pitch drive joint 1111 is bent in the vertical direction where the ribs 1111b are not formed. Therefore, the pitch drive joint 1111 does not have an actual axis of rotation, but can be assumed to rotate up and down about the P axis in FIG. Thus, the pitch drive joint 1111 is formed by a bending joint member and can be the center of rotation for pitch motion.

On the other hand, the yaw operation part 112 and the actuation operation part 113 are formed on one end of the pitch driving handle 1112 of the pitch operation part 111 . Therefore, when the pitch operation section 111 rotates around the pitch drive joint 1111 , the yaw operation section 112 and the actuation operation section 113 also rotate together with the pitch operation section 111 .

As a result, the coordinate systems of the yaw operation section 112 and the actuation operation section 113 are not fixed, but relatively continue to change as the pitch operation section 111 rotates. That is, in FIG. 2, the yaw drive shaft 1121 of the yaw control unit 112 is shown parallel to the Z-axis, and the actuation drive shaft 1131 of the actuation control unit 113 is shown parallel to the Y-axis. . However, if the pitch operation unit 111 rotates, the yaw drive shaft 1121 of the yaw operation unit 112 and the actuation drive shaft 1131 of the actuation operation unit 113 are no longer parallel to the Z axis and the Y axis. In other words, the coordinate system between the yaw operation section 112 and the actuation operation section 113 is changed by the rotation of the operation section 111 . However, in this specification, for convenience of explanation, as long as there is no separate explanation, the coordinate system between the yaw operation unit 112 and the actuation operation unit 113 is defined by the pitch drive handle 1112 as shown in FIG. The description will be made based on the state of being positioned perpendicular to 140 .

The yaw operation section 112 includes a yaw rotating axis 1121 and a yaw rotating member 1122 . Here, the yaw drive shaft 1121 is formed to form a predetermined angle with the XY plane on which the connection part 140 is formed. For example, the yaw drive shaft 1121 is formed in a direction parallel to the Z-axis as shown in FIG. The coordinate system changes relatively. However, the idea of the present invention is not limited thereto, and the yaw driving shaft 1121 can be oriented in various directions by ergonomic design to suit the hand structure of the user holding the yaw control unit 112. It goes without saying that they are formed.

Meanwhile, the yaw driving part 1122 is connected to the yaw driving shaft 1121 and formed to rotate together with the yaw driving shaft 1121 . For example, if a user rotates the yaw driving part 1122 while holding the index finger in the yaw driving part 1122, the yaw driving shaft 1121 connected to the yaw driving part 1122 rotates together, and the rotational force is generated. , is transmitted to the end tool 120 via the power transmission unit 130, and the two jaws 121, 122 (FIG. 7A) of the end tool 120 rotate left and right in the same direction as the rotation direction of the yaw drive shaft 1121. of. For this purpose, a yaw rotating axis 1121 is provided with a pulley 1121a. A yaw wire 132W is connected to the pulley 1121a. Such a yaw wire 132W is coupled to the articulation member 125 of the end tool 120 described below in FIG. 7A to rotate the articulation member 125. FIG.

The actuation manipulator 113 includes an actuation rotating axis 1131 and an actuation rotating member 1132 . Here, the actuation drive shaft 1131 is formed to form a predetermined angle with the XY plane on which the connecting portion 140 is formed. For example, the actuation drive shaft 1131 is formed in a direction parallel to the Y-axis as shown in FIG. The coordinate system of portion 113 changes relatively. However, the idea of the present invention is not limited to this, and the actuation drive shaft 1131 can be varied according to ergonomic design so as to suit the hand structure of the user holding the actuation operation unit 113. It goes without saying that it will be formed in the direction.

Meanwhile, the actuation driving part 1132 is connected to the actuation driving shaft 1131 and formed to rotate together with the actuation driving shaft 1131 . For example, when the user rotates the actuation drive part 1132 while holding the thumb in the actuation drive part 1132, the actuation drive shaft 1131 connected to the actuation drive part 1132 rotates together. A rotational force is transmitted to the end tool 120 via the power transmission section 130, and the two jaws 121, 122 (FIG. 7A) of the end tool 120 perform actuation motion. Here, the actuation operation means that the two jaws 121 and 122 (FIG. 7A) rotate in opposite directions to open and close the jaws 121 and 122 (FIG. 7A), as described above. means action. That is, when the actuation manipulator 113 is rotated in one direction, the first jaw 121 (FIG. 7A) rotates counterclockwise, and the second jaw 122 (FIG. 7A) rotates. Closing the end tool 120 while rotating in a clockwise direction and conversely rotating the actuation operator 113 in the opposite direction causes the first jaw 121 (FIG. 7A) to rotate in a clockwise direction. , the second jaw 122 (FIG. 7A) rotates in a counterclockwise direction while the end tool 120 is opened.

On the other hand, a first actuation link 133L1 is connected to one end of an actuation operating axis 1131, and a second actuation link 133L2 is connected to one end of the first actuation link 133L1. A third actuation link 133L3 is connected to one end of the second actuation link 133L2. At this time, a pivot point 133L3P is formed on the third actuation link 133L3 and serves as a movement center point of the third actuation link 133L3. On the other hand, one end of the third actuation link 133L3 is formed with a guide projection 133L3e, and the pitch drive handle 1112 is formed with a guide groove 1112h.

Therefore, when the actuation drive shaft 1131 rotates, the first actuation link 133L1 connected thereto rotates, and when the first actuation link 133L1 rotates, the second actuation link 133L2 connected therewith rotates. It will move up and down in the axial direction. When the second actuation link 133L2 moves up and down in the Z-axis direction, the third actuation link 133L3 connected thereto rotates around the pivot point 133L3P, thus acting as a guide for the third actuation link 133L3. The projection 133L3e follows the guide groove 1112h of the pitch drive handle 1112 and performs linear motion in the X-axis direction. On the other hand, the actuation wire 133W is connected to the guide projection 133L3e of the third actuation link 133L3, and when the guide projection 133L3e linearly moves in the X-axis direction, it also linearly moves in the X-axis direction. Such actuation wires 133W are connected to actuation guide pins 133WG of the end tool 120, which will be described later with reference to FIGS.

2 to 5, in the surgical instrument 100 according to the first embodiment of the present invention, the pitch operation part 111 and the end tool 120 are the same or have parallel axes (X-axis ). That is, the pitch drive joint 1111 of the pitch operation part 111 is formed at one end of the connecting part 140 , and the end tool 120 is formed at the other end of the connecting part 140 . Here, although the drawings show that the connection part 140 is formed in a straight line, the concept of the present invention is not limited thereto, and the connection part 140 may have a predetermined curvature if necessary. , or bent one or more times. In such cases, the pitch manipulator 111 and the end tool 120 can be said to be formed on substantially the same or parallel axes. Will. In addition, although FIG. 2 shows the pitch operation part 111 and the end tool 120 to be formed on the same axis (X-axis), the idea of the present invention is not limited to this. Pitch manipulator 111 and end tool 120 may also be formed on different axes. More on that later.

6A to 6D show various modifications of the operating portion 110 of the surgical instrument 100 according to the first embodiment of the present invention.

In H1 of FIG. 6A, as described with reference to FIG. physically separated. Such H1 can be found in the first, second, and third embodiments of the present invention.

H21 in FIG. 6B includes: 1) a pitch/yaw operation unit 411 in which the pitch operation unit and the yaw operation unit of the operation unit 410 are integrally formed, and simultaneously performs the roles of the pitch operation unit and the yaw operation unit; formed in 2) At that time, the pitch/yaw operation part 411 is formed above the extension line of the end tool 420 . 3) The actuation control section 413 is formed on the pitch/yaw control section 411 and is formed to be independently rotatable on the pitch/yaw control section 411 . Such H21 can be seen in the fourth embodiment of the present invention and the like.

H22 of FIG. 6C includes: 1) a pitch/yaw operation section 511 in which the pitch operation section and the yaw operation section of the operation section 510 are integrally formed; formed in 2) And then the pitch/yaw control 511 is formed on the extension of the end tool 520 . 3) Actuation controls 513 are formed on the pitch/yaw controls 511 and rotate together with the pitch/yaw controls 511 when they rotate, and independently on the pitch/yaw controls 511 . It is rotatably formed. Such H22 is found in the fifth, sixth and seventh embodiments of the present invention.

H23 of FIG. 6D includes: 1) a pitch/yaw operation unit 811 in which the pitch operation unit and the yaw operation unit of the operation unit 810 are integrally formed, and simultaneously performs the roles of the pitch operation unit and the yaw operation unit; formed in 2) At this time, the pitch/yaw operation part 811 is formed on the extension line of the end tool 820, but the connecting part 840 is not straight but bent at least once. 3) Actuation controls 813 are formed on the pitch/yaw controls 811 and rotate with the pitch/yaw controls 811 when they rotate, and independently on the pitch/yaw controls 111 . It is rotatably formed. Such H23 can be found in the eighth, ninth, and tenth embodiments of the present invention.

In addition to this, various modifications of the operating section, including the modifications described above, are applicable to the surgical instrument of the present invention.

(End Tool) - Bent Type FIG. 7A is an assembled perspective view of the end tool applied to the surgical instrument 100 according to the first embodiment of the present invention, and FIG. 7B is an exploded perspective view of the end tool of FIG. 7A. 7C is a perspective view of the end tool of FIG. 7A with the jaw base 123 and the joint member 125 omitted, and FIG. 7D is a front view of the joint member 125 of the end tool of FIG. 7A. be.

7A to 7D, the end tool 120 applied to the surgical instrument 100 according to the first embodiment of the present invention uses a bending joint member as the joint member 125. As shown in FIG. That is, the end tool 120 includes a first jaw 121 , a second jaw 122 , a jaw base 123 and an articulation member 125 . Meanwhile, the power transmission unit 130 applied to the surgical instrument 100 according to the first embodiment of the present invention includes at least one pitch wire 131W, at least one yaw wire 132W, and an actuation wire 132W. Includes an actuation wire 133W.

In this embodiment, pitch motion is accomplished through movement of a pitch wire coupled to the articulation member, and yaw motion is accomplished through movement of a yaw wire coupled to the articulation member. Actuation wires are then provided extending between the pitch and yaw wires toward the end tool and are connected to grooves formed in the two jaws, respectively. Then, an actuation operation for opening and closing the two jaws is performed by pulling and pushing the actuation wire. The actuation wire is then provided centrally across between each of the pitch and yaw wires, so that even if the pitch and yaw wires move due to pitch and yaw motions, the actuation wire will have no effect. It is a structure that does not receive

On the other hand, when a pitch operation is performed while the lengths of both sides of the pitch wire are different, the yaw wire passing through the centers of the pitch wires on both sides is not affected by the pitch operation. When a yaw motion is performed, the pitch wire passing through the center of the yaw wires on both sides is not affected by the yaw motion. It will be explained in more detail later.

The overall configuration of end tool 120 will now be described in more detail.

Specifically, a joint member 125 is formed at one end of the connecting portion 140 . Here, in the surgical instrument according to the first embodiment of the present invention, a bendable joint member can be applied as the joint member 125 of the end tool 120 . That is, one of the characteristics of this embodiment is that a bending type joint member is applied to configure the joint member 125 for performing pitch and yaw movements.

The bendable joint member 125 is formed in a hollow cylindrical shape, and a large number of grooves 125a are formed on the outer peripheral surface along one direction (X-axis direction in FIG. 7A) so that the joint member 125 can be freely bent. It is formed. At that time, ribs 125P and 125Y for guiding the bending direction of the joint member 125 are formed between the respective grooves 125a. That is, bending is not performed satisfactorily at the positions where the ribs 125P and 125Y are formed, and bending is mainly performed at the portions where the ribs 125P and 125Y are not formed.

At that time, the joint member 125 includes a first rib 125P that guides bending of the joint member 125 in the first direction (that is, pitch motion), and a first rib 125P that guides bending of the joint member 125 in the second direction (that is, yaw motion). A second rib 125Y that guides is formed. At this time, the second ribs 125Y are offset from the first ribs 125P by a certain amount. In addition, the first ribs 125P are formed in the even-numbered grooves 125a, and the second ribs 125Y are formed in the odd-numbered grooves 125a. formed in

That is, when viewed in FIG. 7A, first ribs 125P are formed along both lateral surfaces of the joint member 125, but the joint member 125 is bent vertically. Thus, articulation member 125 has no actual axis of rotation, but can be assumed to rotate up and down about the Y-axis of FIG. 7A. Therefore, the joint member 125 becomes the center of rotation for the pitch motion.

Further, second ribs 125Y are formed along the upper and lower surfaces of the joint member 125, and the joint member 125 is bent in the left-right direction. Thus, joint member 125 has no actual axis of rotation, but can be assumed to rotate left and right about the Z-axis of FIG. 7A. Therefore, the joint member 125 becomes the center of rotation for the yaw motion. Here, the first rib 125P and the second rib 125Y do not necessarily have to be formed on the vertical plane or the horizontal plane of the joint member 125, but are offset from the vertical plane or the horizontal plane of the joint member 125 by a certain amount. It is also formed as

On the other hand, both ends of the pitch wire 131W and the yaw wire 132W are coupled to the ends of the joint member 125 on the first jaw 121 side and the second jaw 122 side, respectively. Therefore, if one end of the pitch wire 131W is pulled, one end of the joint member 125 connected thereto is also pulled, so that the joint member 125 rotates around the Y axis in FIG. is performed. Similarly, if either end of the yaw wire 132W is pulled, one end of the joint member 125 connected thereto is also pulled, so that the joint member 125 rotates about the Z-axis of FIG. It is done.

On the other hand, a pitch wire through-hole 125PH, a yaw wire through-hole 125YH, and an actuation wire through-hole 125AH are formed at one end (not shown) of the connecting portion and one end of the joint member 125 facing it. On the other hand, a pitch wire 131 W is formed extending from the connecting portion 140 toward the end tool 120 side through the pitch wire through-hole 125 PH and coupled to the other end portion of the joint member 125 . On the other hand, a yaw wire 132W passes through the yaw wire through-hole 125YH, extends from the connecting portion 140 toward the end tool 120, and is coupled to the other end of the joint member 125. As shown in FIG. On the other hand, a yaw wire 132W is formed extending from the connecting portion 140 to the end tool 120 side through the actuation wire through-hole 125AH. The actuation wire 133W passing through the actuation wire through-hole 125AH is connected to the actuation guide pin 133WG.

Pitch wire through-holes 125PH are then formed at both ends of the Z-axis diameter of the joint member 125 to control the pitch motion, as shown in FIG. 7D. On the other hand, the yaw wire through-holes 125YH are formed at both ends of the Y-axis direction diameter of the joint member 125 to control the yaw motion, as shown in FIG. 7D. On the other hand, an actuation wire through-hole 125AH is formed in the central portion of the joint member 125 to control the actuation movement, as shown in FIG. 7D.

As described above, the yaw wire is subjected to yaw motion by being pulled at either end of the yaw wire. Since there is no yaw motion, the yaw motion is separate and independent from the actuation and pitch motions. Similarly, the pitch wire is subjected to pitch motion by being pulled at either end of the pitch wire, and at that time, the actuation wire and the yaw wire passing through the center of both ends of the pitch wire are not changed in length. Since there is no pitch motion, the pitch motion is separate and independent from the actuation motion and the yaw motion.

Meanwhile, shaft through holes 121a and 122a are formed in the first jaw 121 and the second jaw 122, respectively. An actuation shaft 120AX is inserted through 121a and 122a. The first jaw 121 and the second jaw 122 rotate around the actuation axis 120AX.

On the other hand, guide holes 121b and 122b are formed on one side of the shaft through holes 121a and 122a of the first jaw 121 and the second jaw 122, respectively. Through the guide holes 121b, 122b of the second jaw 122, an actuation guide pin 133WG is inserted. An actuation wire 133W is coupled to the actuation guide pin 133WG, and when the actuation wire 133W linearly reciprocates along the X-axis, the actuation wire 133W coupled thereto is coupled to the actuation wire 133W. The guide pin 133WG reciprocates along the guide holes 121b and 122b, thereby rotating the first jaw 121 and the second jaw 122 around the actuation axis 120AX, thereby performing actuation. Action is performed. In other words, the actuation motion in which the two jaws contract or open at the same time is performed by forward motion or backward motion of one actuation wire.

As described above, the end tool 120 of the surgical instrument 100 according to the first embodiment of the present invention has separate wires for the pitch motion, the yaw motion, and the actuation motion. and any one operation does not affect the other operations.

First, the yaw operation of this embodiment will be described.

4, 8 and 9 together, a yaw wire 132W for the yaw motion of the end tool 120 connects the yaw operation portion 112 of the operation portion 110 and the joint member 125 of the end tool 120. Link. Therefore, if the yaw control portion 112 rotates counterclockwise about the yaw drive shaft 1121, the yaw wire 132W of the control portion 110 moves generally in the direction of the arrow in FIG. 8, the yaw wire 132W on the side of the end tool 120 is pushed from the operation part side to the end tool side, and the yaw wire 132W on the right side is pulled in the direction of arrow Y1 in FIG. , so that the joint member 125 connected to the yaw wire 132W and the first jaw 121 and the second jaw 122 connected thereto move in the direction of the arrow Y in FIG. yaw motion is performed. In other words, if the yaw operation part 112 is rotated in one direction about the yaw drive shaft 1121, the joint member 125 of the end tool 120 and the first and second jaws 121 and 121 connected thereto are rotated. ) 122 also rotates in the same direction, and the operating direction of the operating portion 110 and the operating direction of the end tool 120 intuitively match.

Next, the pitch operation of this embodiment will be described.

Similar to the yaw motion described above, the pitch wire 131W for the pitch motion of the end tool 120 is connected to the pitch operation portion 111 (FIG. 2) of the operation portion 110 (FIG. 2) and the joint member of the end tool 120. 125 are concatenated. Therefore, when the pitch operation unit 111 (FIG. 2) rotates about the pitch drive joint 1111 (FIG. 2), the pitch wire 131W connected thereto moves, and thus the joint member 125 connected to the pitch wire 131W moves. , and a first jaw 121 and a second jaw 122 connected thereto rotate around the joint member 125 to perform the pitch motion. In other words, if the pitch operation part 111 (FIG. 2) is rotated in one direction about the pitch drive joint 1111 (FIG. 2), the joint member 125 of the end tool 120 and the first jaw connected thereto are rotated. ) 121 and the second jaw 122 also rotate in the same direction, and the operating direction of the operating portion 110 and the operating direction of the end tool 120 intuitively match.

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

5 and 8, the actuation wire 133W for the actuation movement of the end tool 120 is connected to the actuation operation portion 113 of the operation portion 110 and the actuation guide pin of the end tool 120. Connect 133WG. Therefore, when the actuation operation portion 113 rotates about the actuation drive shaft 1131 in the direction of arrow A in FIG. The actuation link 133L3 will move respectively. At this time, a pivot point 133L3P is formed on the third actuation link 133L3, and serves as a central point of rotation of the third actuation link 133L3. When the third actuation link 133L3 rotates around the pivot point 133L3P, the guide protrusion 133L3e of the third actuation link 133L3 performs linear motion in the direction of arrow C in FIG. The actuation wire 133W that has been moved linearly moves in the direction of the arrow A in FIG. 10 in the state shown in FIG. 7A. Therefore, the first jaw 121 and the second jaw 122 move along the guide holes 121b and 122b while the actuation guide pin 133WG connected to the actuation wire 133W moves along the actuation shaft 120AX. , and the first jaw 121 and the second jaw 122 contract toward each other.

Various applicable variations of such an end tool are described below in FIGS. 33-36.

(Overall operation of the first embodiment)
Below, referring to the above, the overall configuration of the pitch, yaw and actuation motions of the surgical instrument 100 according to the first embodiment of the present invention will be organized. .

First, the pitch operation is as follows.

As described above, while the user is holding the pitch drive handle 1112 of the pitch operation unit 111 of the operation unit 110, the pitch drive handle 1112 is moved around the pitch drive joint 1111 by the arrow P (pitch) in FIG. When rotated in the direction, the pitch operation unit 111, the joint member 125 connected through the pitch wire 131W, and the jaws 121 and 122 connected to the joint member rotate the Y axis. It rotates to the center and the pitch action is performed. In other words, when the pitch operation part 111 is rotated in one direction around the pitch drive joint 1111, the joint member 125 of the end tool 120 and the jaws 121 and 122 connected thereto are also rotated in the same direction. Then, the operating direction of the operating portion 110 and the operating direction of the end tool 120 intuitively match.

Next, the yaw operation of this embodiment will be described.

If the user rotates the yaw drive unit 1122 in the direction of arrow Y in FIG. The rotational force rotates the yaw operation unit 112, the joint member 125 connected via the yaw wire 132W, and the jaws 121 and 122 connected to the joint member about the Z axis. Action is performed. In other words, when the yaw operation part 112 is rotated in one direction about the yaw drive shaft 1121, the joint member 125 of the end tool 120 and the jaws 121 and 122 connected thereto also rotate in the same direction. Then, the operating direction of the operating portion 110 and the operating direction of the end tool 120 intuitively match.

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

When the user rotates the actuation drive section 1132 in the direction of arrow A in FIG. Therefore, the first actuation link 133L1 connected to the actuation drive shaft 1131 rotates together with the actuation drive shaft 1131, and the second actuation link 133L2 connected to the first actuation link 133L1 rotates as shown in FIG. It descends in the direction of arrow B. When the second actuation link 133L2 descends in the direction of arrow B in FIG. 5, the third actuation link 133L3 connected thereto rotates counterclockwise along the pivot point 133L3P. The guide projection 133L3e of the 3-actuation link 133L3 follows the guide groove 1112h of the pitch drive handle 1112 and performs linear motion along the X-axis in the direction of arrow C in FIG. Therefore, the actuation wire 133W connected to the guide projection 133L3e of the third actuation link 133L3 also performs linear motion along the X-axis in the direction of arrow C, and such actuation wire 133W moves toward the end tool 120 ( By linearly moving the actuation guide pin 133WG (FIG. 7) of FIG. 7), the first jaw 121 and the second jaw 122 rotate in mutually opposite directions, and the jaw collapses. An actuation operation is performed. Conversely, rotating the actuation driver 1132 in the opposite direction of arrow A in FIG. An actuation operation is performed in which the jaws are opened while rotating.

<Concept division of the first, second and third embodiments of the surgical instrument>
Before describing the surgical instruments according to the second and third embodiments of the present invention, the first, second and third embodiments of the surgical instrument of the present invention will be described below. A brief description of the criteria for

11A, 11B and 11C are drawings schematically showing the pitch motion of the first, second and third embodiments of the surgical instrument of the present invention, respectively, and FIG. FIG. 4 is a drawing schematically showing the yaw motion of the first, second and third embodiments of the surgical instrument of the invention;

First, yaw operations of the first, second and third embodiments of the present invention will be described.

In the first, second, and third embodiments of the present invention, the yaw motion is commonly performed using the index finger. That is, as illustrated in FIG. 11D, in the first, second, and third embodiments of the present invention, after the portion of the natural pivot point movement for yaw motion with the index finger, Therefore, it is possible to intuitively match the direction in which the user operates the operating part and the actual operating direction of the end tool.

Next, pitch operations of the first, second and third embodiments of the present invention will be described. Here, in the first, second and third embodiments of the surgical instrument of the present invention, the virtual center axis of the pitch drive handle in the Z-axis direction and the virtual center axis of the pitch drive joint in the Z-axis direction It is classified with characteristics in the positional relationship with the central axis of.

Here, the "virtual center axis X2 in the Z-axis direction of the pitch drive joint" is the virtual center axis in the Z-axis direction perpendicular to the approximate center point in the X-axis direction when the pitch drive joint is not bent. An axis, or an axis that is perpendicular to the virtual rotation center axis in the Y-axis direction of the pitch drive joint on the YZ plane containing the virtual rotation center axis in the Y-axis direction of the pitch drive joint. Hereinafter, such an axis is described as "a virtual center axis in the Z-axis direction of the pitch drive joint".

Referring to FIG. 11A, in the case of the first embodiment of the surgical instrument of the present invention, the virtual center axis of the pitch drive handle in the Z-axis direction is closer to the end tool than the virtual center axis of the pitch drive joint in the Z-axis direction. It is characterized by being formed close to That is, the Z-direction virtual central axis X1 of the pitch drive handle 1112 of the surgical instrument 100 is formed closer to the end tool side than the Z-direction virtual central axis X2 of the pitch drive joint 1111 . In that case, the pitch drive handle 1112 (or the hand or handle that picks it up) that moves for the pitch motion is located forward of the pitch joint point (i.e., towards the end tool), thus as in FIG. 11A. Since the center of rotation of the joint is placed on the user's wrist and the user's hand rotates, there is an advantage that the operation is intuitive and easy. In other words, the end tool can be operated by moving the hand positioned in front of the user's wrist so that the end tool 120 actually rotates, and the pitch operation of the surgical instrument intuitively matches. do.

Referring to FIG. 11B, in the case of the second embodiment of the surgical instrument of the present invention, the virtual center axis of the pitch drive handle in the Z-axis direction and the virtual center axis of the pitch drive joint in the Z-axis direction are collinear. characterized by being formed in That is, the Z-direction virtual center axis X1 of the pitch drive handle 2112 of the surgical instrument 200 is formed at the same distance from the end tool as the Z-direction virtual center axis X2 of the pitch drive joint 2111 . In that case, the pitch drive handle 2112 (or the hand or handle that picked it up) that moves for the pitch motion is located on the pitch articulation point, so the user picks up the pitch drive handle 2112, as in FIG. 11B. The center of rotation of the joint is placed on the part.

Referring to FIG. 11C, in the case of the third embodiment of the surgical instrument of the present invention, the virtual center axis of the pitch drive handle in the Z-axis direction is further from the end tool than the virtual center axis of the pitch drive joint in the Z-axis direction. Characterized by being formed at a distance. That is, the Z-direction virtual center axis X1 of the pitch drive handle 3112 of the surgical instrument 300 is formed farther from the end tool than the Z-direction virtual center axis X2 of the pitch drive joint 3111 . In that case, the pitch drive handle 3112 (or the hand or handle that picks it up) that moves for the pitch motion would be behind the pitch articulation point (ie, opposite the end tool).

A point common to the first, second, and third embodiments of the surgical instrument of the present invention is that the pitch drive handle 1112 is in the operating state of at least one of the pitch operation sections 111. , is formed closer to the end tool 120 than the imaginary center axis X2 in the Z-axis direction of the pitch drive joint.

For example, in the first embodiment of the surgical instrument of the present invention illustrated in FIG. Although it is formed closer to the end tool 120 side than the axis X2, the pitch drive handle 1112 is positioned closer to the end tool 120 than the virtual center axis X2 of the pitch drive joint 1111 in the Z-axis direction in almost all operating states of the pitch operation unit 111. is formed near

On the other hand, in the second embodiment of the surgical instrument of the present invention illustrated in FIG. X2 is formed on the same line, but if the pitch operation part 211 rotates forward even slightly around the pitch drive joint 2111 in the state shown in FIG. It is formed closer to the end tool 220 than the imaginary central axis X2 of 2111 in the Z-axis direction.

On the other hand, in the third embodiment of the surgical instrument of the present invention illustrated in FIG. It is formed farther from the end tool than X2. Therefore, in the state shown in FIG. 11C, the pitch drive handle 3112 is positioned farther from the end tool 320 than the imaginary central axis X2 of the pitch drive joint in the Z-axis direction. However, if the pitch operation unit 311 is rotated forward by a certain angle or more around the pitch drive joint 3111 in order to perform the pitch motion, a part of the pitch drive handle 3112 will move to the virtual position of the pitch drive joint 3111 in the Z-axis direction. It is formed closer to the end tool 320 than the central axis X2.

As described above, when at least one of the pitch operation units 111, 211, and 311 is in an operating state, the pitch drive handles 1112, 2112, and 3112 are moved from the virtual center axis X2 of the pitch drive joints 1111, 2111, and 3111 in the Z-axis direction. Since the end tools 120, 220, and 320 are formed close to each other, the fingers and hands positioned ahead of the wrist joint of the user who performs the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip side of the hand is fixed and the back part such as the wrist and arm must move greatly, and the operation of the end tool is greatly different and intuitive. operation becomes difficult. However, the embodiment of the present invention is different from the existing instruments due to the aforementioned characteristics, and can obtain the effect of greatly improving the intuitiveness in operating the operation part for manipulating the end tool.

<Second Embodiment of Surgical Instrument> (E1+H1b)
Below, a surgical instrument 200 according to a second embodiment of the present invention will be described. Here, the surgical instrument 200 according to the second embodiment of the present invention has a pitch drive of the surgical instrument 200 as compared to the previously described surgical instrument 100 (FIG. 2) according to the first embodiment of the present invention. The feature is that the virtual central axis X1 of the handle 2112 in the Z-axis direction is formed on the same line as the virtual central axis X2 of the pitch drive joint 2111 in the Z-axis direction. Such different configurations from the first embodiment will be described in detail later.

12 and 13 are drawings showing a surgical instrument 200 according to a second embodiment of the present invention. 12 and 13, the surgical instrument 200 according to the second embodiment of the present invention includes an operating part 210, an end tool 220, a power transmission part 230 and a connection part 240. As shown in FIG.

The operation unit 210 of the surgical instrument 200 includes a pitch operation unit 211 that controls the pitch motion of the end tool 220, a yaw operation unit 212 that controls the yaw motion of the end tool 220, and an actuation motion of the end tool 220. and an actuation operation unit 213 that operates.

The pitch operation part 211 includes a pitch drive joint 2111 and a pitch drive handle 2112 . Here, the pitch driving joint 2111 is rotatable around the Y-axis, and the pitch driving handle 2112 is connected to the pitch driving joint 2111 to rotate together with the pitch driving joint 2111 . Here, the pitch drive joint 2111 is also a bending joint member.

On the other hand, the yaw operation part 212 and the actuation operation part 213 are formed on one end of the pitch drive handle 2112 of the pitch operation part 211 .

The yaw operation section 212 includes a yaw drive shaft 2121 and a yaw drive section 2122 . Here, the yaw driving part 2122 is connected to the yaw driving shaft 2121 and formed to rotate together with the yaw driving shaft 2121 . For example, if a user rotates the yaw driving part 2122 while holding the index finger between the yaw driving part 2122, the yaw driving shaft 2121 connected to the yaw driving part 2122 rotates together, and the rotational force is generated. , is transmitted to the end tool 220 via the power transmission part 230, and the two jaws 221, 222 of the end tool 220 rotate in the same direction as the yaw drive shaft 2121 rotates. For this purpose, the yaw drive shaft 2121 is formed with a pulley 2121a. A yaw wire 232W is connected to the pulley 2121a. Such yaw wire 232W is coupled with end tool 220 to cause end tool 220 to rotate.

The actuation operation section 213 includes an actuation drive shaft 2131 and an actuation drive section 2132 . On the other hand, a first actuation link (not shown) is connected to one end of the actuation drive shaft 2131, and a second actuation link 233L2 is connected to one end of the first actuation link (not shown). A third actuation link 233L3 is connected to one end of the second actuation link 233L2. At that time, a pivot point 233L3P is formed on the third actuation link 233L3 and serves as a central point for movement of the third actuation link 233L3. On the other hand, one end of the third actuation link 233L3 is formed with a guide projection 233L3e, and the pitch drive handle 2112 is formed with a guide groove 2112h.

On the other hand, the end tool 220 of the surgical instrument 200 applies the bending joint member described in FIGS. 7A to 7D as the joint member 225. FIG. That is, the end tool 220 includes a first jaw (not shown), a second jaw 222 , a jaw base 223 and an articulation member 225 . Meanwhile, the power transmission part 230 applied to the surgical instrument 200 according to the second embodiment of the present invention includes at least one pitch wire (not shown) and at least one yaw wire. 232W, including actuation wires 233W.

Here, in the case of the second embodiment of the surgical instrument of the present invention, the virtual center axis of the pitch drive handle in the Z-axis direction and the virtual center axis of the pitch drive joint in the Z-axis direction are formed on the same line. It is characterized by That is, the Z-direction virtual center axis X1 of the pitch drive handle 2112 of the surgical instrument 200 is formed at the same distance from the end tool as the Z-direction virtual center axis X2 of the pitch drive joint 2111 . Here, in the second embodiment of the surgical instrument of the present invention, at least in any one operation state of the pitch operation section 211, the pitch drive handle 2112 is positioned so that the virtual central axis X2 of the pitch drive joint in the Z-axis direction It is formed closer to the end tool 220 . That is, in the second embodiment of the surgical instrument of the present invention, the virtual center axis X1 of the pitch drive handle 2112 in the Z-axis direction and the virtual center axis X2 of the pitch drive joint 2111 in the Z-axis direction are formed on the same line. However, if the pitch operation unit 211 rotates around the pitch drive joint 2111 even a little in the state shown in FIG. It is formed closer to the end tool 220 than X2.

<Third Embodiment of Surgical Instrument> (E1+H1c)
A surgical instrument 300 according to a third embodiment of the present invention will now be described. Here, the surgical instrument 300 according to the third embodiment of the present invention has a pitch drive of the surgical instrument 300 as compared to the previously described surgical instrument 100 (FIG. 2) according to the first embodiment of the present invention. The difference is that the handle 3112 has a Z-direction virtual center axis X1 that is farther from the end tool than the Z-direction virtual center axis X2 of the pitch drive joint 3111. The yaw manipulator 312 is also different compared to the surgical instrument 100 (FIG. 2) according to the first embodiment of the present invention. Such different configurations from the first embodiment will be described in detail later.

14 and 15 are drawings showing a surgical instrument 300 according to a third embodiment of the present invention. 14 and 15, the surgical instrument 300 according to the third embodiment of the present invention includes an operating part 310, an end tool 320, a power transmission part 330 and a connection part 340. As shown in FIG.

The operating portion 310 of the surgical instrument 300 includes a pitch operating portion 311 that controls the pitch motion of the end tool 320, a yaw operating portion 312 that controls the yaw motion of the end tool 320, and an actuation motion of the end tool 320. and an actuation operation unit 313 that operates.

The pitch operation part 311 includes a pitch drive joint 3111 and a pitch drive handle 3112 . Here, the pitch driving joint 3111 is rotatable around the Y-axis, and the pitch driving handle 3112 is connected to the pitch driving joint 3111 to rotate together with the pitch driving joint 3111 . Here, the pitch drive joint 3111 is also a bending joint member.

On the other hand, the yaw operation section 312 includes a yaw drive joint 3121 and a yaw drive section 3122 . Here, the yaw driving part 3122 is connected to the yaw driving joint 3121 and formed to rotate together with the yaw driving joint 3121 . For example, if the user rotates the yaw driving part 3122 while holding the index finger between the yaw driving part 3122, the yaw driving joint 3121 connected to the yaw driving part 3122 rotates together, and the rotational force is generated. , is transmitted to the end tool 320 via the power transmission unit 330, and the two jaws of the end tool 320 rotate left and right in the same direction as the yaw drive joint 3121 rotates.

That is, in the third embodiment, a bending joint member is used as the yaw operation part 312, which is equivalent to the yaw operation part of the previous embodiment in that it provides rotation due to yaw operation. For this purpose, various configurations can be applied as components other than the bending joint member of the present embodiment. In this embodiment, the yaw operation part 312 is formed in a hollow cylindrical shape, and has a large number of grooves 3121a formed along one direction (X-axis direction) on the outer peripheral surface so as to be bendable. . At that time, a rib 3121b for determining the bending direction of the yaw drive joint 3121 is formed between the respective grooves 3121a. That is, bending is not performed at the position where the rib 3121b is formed, and bending is performed at the portion where the rib 3121b is not formed. That is, ribs 3121b are formed along the upper and lower surfaces of yaw drive joint 3121, but yaw drive joint 3121 is bent in the horizontal direction where ribs 3121b are not formed. Therefore, the yaw drive joint 3121 does not have an actual axis of rotation, but can be assumed to rotate left and right about the Z axis. Accordingly, the yaw drive joint 3121 is formed by the bending joint member and becomes the center of rotation for the yaw motion.

The actuation operation section 313 includes an actuation drive shaft 3131 and an actuation drive section 3132 . On the other hand, a first actuation link 333L1 is connected to one end of the actuation drive shaft 3131, and a second actuation link 333L2 is connected to one end of the first actuation link 333L1. A third actuation link 333L3 is connected to one end of 333L2. At that time, a pivot point 333L3P is formed on the third actuation link 333L3 and serves as a central point for movement of the third actuation link 333L3. On the other hand, one end of the third actuation link 333L3 is formed with a guide projection 333L3e, and the pitch drive handle 3112 is formed with a guide groove (not shown).

On the other hand, the end tool 320 of the surgical instrument 300 applies the bending joint member described in FIGS. 7A to 7D as the joint member 325. FIG. That is, the end tool 320 includes a first jaw (not shown), a second jaw 322 , a jaw base 323 and an articulation member 325 . Meanwhile, the power transmission unit 330 applied to the surgical instrument 300 according to the third embodiment of the present invention includes at least one pitch wire 331W, at least one yaw wire 332W, and an actuation wire 332W. Includes an actuation wire (not shown).

Here, in the case of the third embodiment of the surgical instrument of the present invention, the virtual center axis of the pitch drive handle in the Z-axis direction is formed farther from the end tool than the virtual center axis of the pitch drive joint in the Z-axis direction. It is characterized by That is, the Z-direction virtual center axis X1 of the pitch drive handle 3112 of the surgical instrument 300 is formed farther from the end tool than the Z-direction virtual center axis X2 of the pitch drive joint 3111 .

Here, in the third embodiment of the surgical instrument of the present invention, at least in any one operation state of the pitch operation section 311, the pitch drive handle 3112 is aligned with the virtual central axis X2 of the pitch drive joint in the Z-axis direction. It is formed closer to the end tool 320 . That is, in the third embodiment of the surgical instrument of the present invention, the pitch drive handle 3112 is located farther from the end tool 320 than the imaginary central axis X2 of the pitch drive joint in the Z-axis direction. However, if the pitch operation unit 311 is rotated around the pitch drive joint 3111 by a certain angle or more in order to perform the pitch motion, a part of the pitch drive handle 3112 will move to the virtual center axis X2 of the pitch drive joint 3111 in the Z-axis direction. It is formed closer to the end tool 220 .

<Fourth Embodiment of Surgical Instrument> (E1+H21)
A surgical instrument 400 according to a fourth embodiment of the present invention will now be described. Here, the surgical instrument 400 according to the fourth embodiment of the present invention differs from the previously described surgical instrument 100 according to the first embodiment of the present invention (FIG. 2) in that the pitch operation portion of the operation portion 410 and the The yaw control comprises an integrally formed pitch/yaw control 411 and is configured to perform the roles of pitch control and yaw control at the same time, and then the pitch/yaw control 411 is connected to the end It is different in that it is formed above the extended line of the tool 420 . Thereby, in the surgical instrument 400 according to the fourth embodiment of the present invention, the pitch/yaw operation section 411 is operated with fingers other than the user's wrist. Such different configurations from the first embodiment will be described in detail later.

16 and 17 are drawings showing a surgical instrument 400 according to a fourth embodiment of the present invention. 16 and 17, the surgical instrument 400 according to the fourth embodiment of the present invention includes an operating part 410, an end tool 420, a power transmission part 430 and a connection part 440. As shown in FIG.

The controls 410 of the surgical instrument 400 include pitch/yaw controls 411 that control the pitch and yaw movements of the end tool 420 and actuation controls 413 that control the actuation movements of the end tool 420. .

Pitch/yaw operation portion 411 includes a pitch/yaw drive joint 4111 and a pitch/yaw drive portion 4112 . Here, the pitch/yaw driving joint 4111 is rotatable about the Y-axis and the Z-axis, and the pitch/yaw driving part 4112 is connected to the pitch/yaw driving joint 4111 and together with the pitch/yaw driving joint 4111 . formed to rotate. Here, the pitch/yaw drive joint 4111 is also a bending joint member.

The bent pitch/yaw drive joint 4111 is formed in a hollow cylindrical shape, and has a large number of grooves 4111a formed along one direction (X-axis direction) on the outer peripheral surface so as to be freely bendable. be done. At that time, ribs 4111P and 4111Y for guiding the bending direction of the pitch/yaw drive joint 4111 are formed between the respective grooves 4111a. That is, bending is not well performed at the positions where the ribs 4111P and 4111Y are formed, and bending is mainly performed at the portions where the ribs 4111P and 4111Y are not formed.

At that time, the pitch/yaw drive joint 4111 includes a first rib 4111P that guides bending (ie, pitch motion) of the pitch/yaw drive joint 4111 in the first direction, and A second rib 4111Y is formed to guide bending (that is, yaw motion). At this time, the second rib 4111Y is formed to be offset by a certain amount with respect to the first rib 4111P. In addition, the first ribs 4111P are formed in the even-numbered grooves 4111a, and the second ribs 4111Y are formed in the odd-numbered grooves 4111a. It is formed.

17, first ribs 4111P are formed along both lateral surfaces of the pitch/yaw drive joint 4111, but the pitch/yaw drive joint 4111 is bent in the vertical direction. Thus, pitch/yaw drive joint 4111 has no actual axis of rotation, but can be assumed to rotate up and down about the Y axis in FIG. Thus, pitch/yaw drive joint 4111 becomes the center of rotation for pitch motion.

Second ribs 4111Y are formed along the upper and lower surfaces of the pitch/yaw drive joint 4111, and the pitch/yaw drive joint 4111 is bent in the left-right direction. Thus, pitch/yaw drive joint 4111 has no actual axis of rotation, but can be assumed to rotate left and right about the Z axis in FIG. Thus, pitch/yaw drive joint 4111 becomes the center of rotation for yaw motion.

Here, the first rib 4111P and the second rib 4111Y do not necessarily have to be formed on the vertical plane or the horizontal plane of the pitch/yaw drive joint 4111. It may also be formed to be offset from the plane by a certain amount.

On the other hand, both ends of a pitch wire 431W and a yaw wire 432W are coupled to the end of the pitch/yaw drive joint 4111 on the pitch/yaw drive unit 4112 side. Therefore, when the pitch/yaw driving part 4112 rotates, the pitch/yaw driving joint 4111 connected thereto rotates, and while the pitch/yaw driving joint 4111 rotates, either one end of the pitch wire 431W or the yaw wire 432W is driven. Pushing and pulling on the other end produces pitch or yaw movement of the end tool 420 coupled thereto.

To describe it differently, the end tool also has a center of rotation for pitch and yaw motions (that is, a joint member) formed behind the end tool (first jaw and second jaw), and the operation part also The center of rotation for pitch and yaw motion (i.e., the pitch/yaw drive joint) was formed behind the manipulator (pitch/yaw drive), and the end tool and manipulator were both formed behind it. Since they move based on the center of rotation, it can be said intuitively that their movements match each other structurally.

The actuation operation section 413 includes an actuation drive shaft 4131 and an actuation drive section 4132 . On the other hand, one end of the actuation drive shaft 4131 is connected with an actuation wire 433W. The other end of the actuation wire 433W is connected to the actuation guide pin 133WG (FIG. 8) of the end tool 420. As shown in FIG.

On the other hand, the end tool 420 of the surgical instrument 400 applies the bending joint member described in FIGS. 7A to 7D as the joint member 425 . That is, the end tool 420 includes a first jaw (not shown), a second jaw 422 , a jaw base 423 and an articulation member 425 . Meanwhile, the power transmission part 430 applied to the surgical instrument 400 according to the second embodiment of the present invention includes one or more pitch wires 431W, one or more yaw wires 432W, and one or more actuation wires 433W.

Here, in the case of the fourth embodiment of the surgical instrument of the present invention, as described above, 1) the pitch/yaw operation section 411 in which the pitch operation section and the yaw operation section of the operation section 410 are integrally formed is provided. , and is formed to perform the roles of the pitch operation part and the yaw operation part at the same time. 2) At that time, the pitch/yaw operation part 411 is formed above the extension line of the end tool 420 .

<Concept divisions of fifth, sixth, and seventh embodiments of surgical instruments> Hereinafter, surgical instruments according to fifth, sixth, and seventh embodiments of the present invention will be described. Prior to the description, a brief description of criteria characterizing the fifth, sixth, and seventh embodiments of the surgical instrument of the present invention will be provided.

18A is a conceptual diagram of pitch operation of the fifth embodiment of the surgical instrument of the present invention, FIG. 18B is a conceptual diagram of yaw operation, and FIG. 18C is a sixth embodiment of the surgical instrument of the present invention. 18D is a conceptual diagram of yaw movement, FIG. 18E is a conceptual diagram of pitch movement of the surgical instrument according to the seventh embodiment of the present invention, and FIG. 18F is a conceptual diagram of yaw movement. It is a conceptual diagram.

Here, in the fifth, sixth, and seventh embodiments of the surgical instrument of the present invention, the virtual center axis of the pitch/yaw drive handle in the Z-axis direction and the Z-axis of the pitch/yaw drive joint In terms of the positional relationship with the virtual central axis of the direction, it is distinguished by features.

18A and 18B, in the case of the fifth embodiment of the surgical instrument of the present invention, the imaginary Z axis of the pitch/yaw drive handle is the Z axis of the pitch/yaw drive joint. It is characterized in that it is formed closer to the end tool side than the virtual central axis. In other words, the virtual center axis X1 in the Z-axis direction of the pitch/yaw drive handle 5112 of the surgical instrument 500 is formed closer to the end tool side than the virtual center axis X2 in the Z-axis direction of the pitch/yaw drive joint 5111. be.

In that case, the pitch/yaw drive handle 5112 (or the hand or handle that picks it up) that moves for the pitch motion is located forward (i.e., toward the end tool) of the pitch/yaw articulation point, thus FIG. 18A. As described above, the center of rotation of the joint is placed on the user's wrist and the user's hand rotates, so there is an advantage that the operation is intuitive and easy. That is, the end tool can be manipulated by moving the hand positioned in front of the user's wrist so that the end tool 520 actually rotates, intuitively matching the pitch operation of the surgical instrument. .

Also, the pitch/yaw drive handle 5112 (or the hand or handle that picks it up) that moves for yaw motion is located forward of the pitch/yaw articulation point (i.e., toward the end tool), thus As shown in FIG. 18B, the center of rotation of the joint is placed on the user's wrist, and the user's hand rotates, so there is an advantage in that the operation is intuitive and easy. In other words, the end tool can be manipulated by moving the hand positioned in front of the user's wrist so that the end tool 520 actually rotates, and the yaw operation of the surgical instrument intuitively matches. . Such a configuration is similarly applied to the eighth embodiment, which will be described later.

18C and 18D, in the case of the sixth embodiment of the surgical instrument of the present invention, the virtual Z axis of the pitch/yaw drive handle and the Z axis of the pitch/yaw drive joint. It is characterized by being formed on the same line as the virtual central axis. That is, the virtual center axis X1 in the Z-axis direction of the pitch/yaw drive handle 6112 of the surgical instrument 600 and the virtual center axis X2 in the Z-axis direction of the pitch/yaw drive joint 6111 are formed at the same distance from the end tool. It is.

In that case, the pitch/yaw drive handle 6112 (or the hand or handle that picked it up) that moves for the pitch motion is located on the pitch/yaw articulation point, and thus, as in FIG. The center of rotation of the joint is placed where the pitch/yaw drive handle 6112 is taken.

Also, the pitch/yaw drive handle 6112 (or the hand or handle that picks it up), which moves for yaw motion, is located on the pitch/yaw articulation point, thus, as in FIG. However, the center of rotation of the joint is placed where the pitch/yaw drive handle 6112 is taken. Therefore, in such a case, both the tip portion and the rear portion of the hand will move. Such a configuration is similarly applied to the ninth embodiment, which will be described later.

18E and 18F, for the seventh embodiment of the surgical instrument of the present invention, the imaginary Z axis of the pitch/yaw drive handle is the Z axis of the pitch/yaw drive joint. It is characterized by being formed farther from the end tool than the virtual central axis. That is, the imaginary center axis X1 in the Z-axis direction of the pitch/yaw drive handle 7112 of the surgical instrument 700 is formed farther from the end tool than the imaginary center axis X2 in the Z-axis direction of the pitch/yaw drive joint 7111. .

In that case, the pitch/yaw drive handle 7112 (or the hand or handle that picks it up) that moves for the pitch motion is located behind the pitch/yaw articulation point (ie, opposite the end tool).

Also, the pitch/yaw drive handle 7112 (or the hand or handle that picks it up) that moves for yaw motion is located behind the pitch/yaw articulation point (i.e., on the opposite side of the end tool). Therefore, as shown in FIG. 18E, the tip side of the user's hand is fixed, and the back portion of the arm (such as the wrist) moves based on that.

A point common to the above-described fifth, sixth, and seventh embodiments of the surgical instrument of the present invention is that the pitch/yaw drive handle is used at least in the operation state of any one of the pitch operation units. is formed closer to the end tool than the imaginary center axis X2 in the Z-axis direction of the pitch/yaw drive joint.

For example, in the fifth embodiment of the surgical instrument of the invention illustrated in FIGS. is closer to the end tool 520 than the imaginary central axis X2 in the Z-axis direction of the pitch/yaw drive joint 5111, the pitch/yaw drive joint 5111 is positioned closer to the end tool 520 in almost all operating states of the pitch/yaw operation unit 511. is formed closer to the end tool 520 than the imaginary center axis X2 in the Z-axis direction.

On the other hand, in the sixth embodiment of the surgical instrument of the present invention illustrated in FIGS. Although it is formed on the same line as the virtual central axis X2 in the Z-axis direction, if the pitch/yaw operation unit 611 rotates forward about the pitch/yaw drive joint 6111 in the state shown in FIG. For example, the pitch/yaw drive handle 6112 is formed closer to the end tool 620 than the imaginary center axis X2 of the pitch/yaw drive joint 6111 in the Z-axis direction.

On the other hand, in the seventh embodiment of the surgical instrument of the present invention illustrated in FIGS. It is formed farther from the end tool than the imaginary central axis X2 in the Z-axis direction. 18E, the pitch/yaw drive handle 7112 is located farther from the end tool 720 than the imaginary center axis X2 in the Z-axis direction of the pitch/yaw drive joint. However, if the pitch/yaw operation part 711 is rotated forward by a certain angle or more around the pitch/yaw drive joint 7111 in order to perform the pitch motion, a part of the pitch/yaw drive handle 7112 will operate as a pitch/yaw drive. It is formed closer to the end tool 720 than the imaginary center axis X2 of the joint 7111 in the Z-axis direction.

Thus, in the operating state of at least one of the pitch/yaw controls 511, 611, 711, the pitch/yaw drive handle 5112, 6112, 7112 is aligned with the Z axis of the pitch/yaw drive joint 5111, 6111, 7111. By being formed closer to the end tools 520, 620, 720 than the virtual central axis X2 of the direction, the fingers and hands positioned ahead of the wrist joints of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip side of the hand is fixed, and the rear part such as the wrist and arm must move greatly, and the operation of the end tool is greatly different, which is intuitive. operation becomes difficult. However, due to such characteristics, the embodiment of the present invention can obtain the effect of greatly improving the intuitiveness in operating the operation part for operating the end tool, unlike the existing instruments.

<Fifth Embodiment of Surgical Instrument> (E1+H22a)
A surgical instrument 500 according to a fifth embodiment of the present invention will now be described. Here, the surgical instrument 500 according to the fifth embodiment of the present invention differs from the previously described surgical instrument 100 according to the first embodiment of the present invention (FIG. 2) in that the pitch operation portion and the The yaw control comprises an integrally formed pitch/yaw control 511 and is formed to perform the roles of pitch control and yaw control simultaneously, and then the pitch/yaw control 511 is connected to the end It is characteristically different in that it is formed on an extension of the tool 520 . Further, in the surgical instrument 500 according to the fifth embodiment of the present invention, the virtual center axis X1 in the Z-axis direction of the pitch/yaw drive handle 5112 of the surgical instrument 500 is aligned with the Z-axis direction of the pitch/yaw drive joint 5111. is formed closer to the end tool 520 side than the imaginary center axis X2 of . Such different configurations from the first embodiment will be described in detail later.

19A and 19B are drawings showing a surgical instrument 500 according to a fifth embodiment of the present invention. 19A and 19B, a surgical instrument 500 according to a fifth embodiment of the present invention includes an operating portion 510, an end tool 520, a power transmission portion 530 and a connection portion 540. FIG.

The controls 510 of the surgical instrument 500 include pitch/yaw controls 511 that control the pitch and yaw movements of the end tool 520 and actuation controls 513 that control the actuation movements of the end tool 520. .

Pitch/yaw control 511 includes pitch/yaw drive joint 5111 and pitch/yaw drive handle 5112 . Here, the pitch/yaw drive joint 5111 is rotatable about the Y-axis and the Z-axis, and the pitch/yaw drive handle 5112 is connected to the pitch/yaw drive joint 5111 and together with the pitch/yaw drive joint 5111. formed to rotate. Here, the pitch/yaw drive joint 5111 is also a bending joint member.

The bent pitch/yaw drive joint 5111 is formed in a hollow cylindrical shape, and has a large number of grooves 5111a formed along one direction (X-axis direction) on the outer peripheral surface so that the joint 5111 can be freely bent. be done. At this time, ribs 5111P and 5111Y for guiding the bending direction of the pitch/yaw drive joint 5111 are formed between the respective grooves 5111a. That is, bending is not performed satisfactorily at the positions where the ribs 5111P and 5111Y are formed, and bending is mainly performed at the portions where the ribs 5111P and 5111Y are not formed.

At that time, the pitch/yaw drive joint 5111 rotates up and down about the Y-axis by the first rib 5111P that guides the bending of the pitch/yaw drive joint 5111 in the first direction (that is, the pitch movement). The yaw drive joint 5111 becomes the center of rotation for pitch motion. In addition, the second rib 5111Y that guides the bending of the pitch/yaw drive joint 5111 in the second direction (that is, the yaw motion) causes the pitch/yaw drive joint 5111 to rotate left and right about the Z axis, thereby The yaw drive joint 5111 becomes the center of rotation for yaw motion.

In other words, as illustrated in FIG. 19B, a first rib 5111P is formed on the Y-axis diameter of the pitch/yaw drive joint 5111 to become the center of rotation for pitch motion, and a second rib 5111Y is formed on the Y-axis diameter of the pitch/yaw drive joint 5111. , is formed on the Z-axis diameter of pitch/yaw drive joint 5111 to become the center of rotation for yaw motion. Further, the pitch/yaw drive joint 5111 is additionally formed with ribs at various positions in addition to the first rib 5111P and the second rib 5111Y. play a role in softening the

On the other hand, in the pitch/yaw drive joint 5111, both ends of the pitch wire 531W and the yaw wire 532W are coupled to the ends on the end tool 520 side. Therefore, when the pitch/yaw drive handle 5112 rotates, the pitch/yaw drive joint 5111 connected thereto rotates, and while the pitch/yaw drive joint 5111 rotates, either one end of the pitch wire 531W or the yaw wire 532W is rotated. Pushing and pulling on the other end produces pitch or yaw motion of the end tool 520 coupled thereto.

Actuation operation portion 513 includes an actuation drive shaft 5131 and an actuation drive portion 5132 . On the other hand, a first actuation link 533L1 is connected to one end of the actuation drive shaft 5131, and a second actuation link 533L2 is connected to one end of the first actuation link 533L1. A third actuation link 533L3 is connected to one end of 533L2. At that time, a pivot point 533L3P is formed on the third actuation link 533L3 and serves as a central point for movement of the third actuation link 533L3. On the other hand, one end of the third actuation link 533L3 is formed with a guide projection 533L3e, and the pitch/yaw drive handle 5112 is formed with a guide groove 5112h. On the other hand, the actuation wire 533W is connected to the guide projection 533L3e. The other end of the actuation wire 533W is connected to the actuation guide pin 133WG (FIG. 8) of the end tool 520. As shown in FIG.

On the other hand, the end tool 520 of the surgical instrument 500 applies the bending joint member described in FIGS. 7A to 7D as the joint member 525. FIG. That is, the end tool 520 includes a first jaw (not shown), a second jaw 522 , a jaw base 523 and an articulation member 525 . Meanwhile, the power transmission part 530 applied to the surgical instrument 500 according to the fifth embodiment of the present invention includes one or more pitch wires 531W, one or more yaw wires 532W, and one or more actuation wires 533W.

Here, in the case of the fifth embodiment of the surgical instrument of the present invention, as described above, 1) the pitch/yaw operation section 511 in which the pitch operation section and the yaw operation section of the operation section 510 are integrally formed is provided. , and is formed to perform the roles of the pitch operation part and the yaw operation part at the same time. 2) At that time, the pitch/yaw operation part 511 is formed on an extension line of the end tool 520 .

Further, in the case of the fifth embodiment of the surgical instrument of the present invention, the virtual center axis X1 of the pitch/yaw drive handle 5112 in the Z-axis direction is closer to the virtual center axis X2 of the pitch/yaw drive joint 5111 in the Z-axis direction. It is characterized by being formed close to the end tool 520 side.

Accordingly, the fifth embodiment of the surgical instrument of the present invention is such that, at least in any one operating state of the pitch/yaw control portion 511, the pitch/yaw drive handle 5112 is aligned with the Z axis of the pitch/yaw drive joint 5111. It is formed closer to the end tool 120 than the imaginary central axis X2 of the direction. That is, in the fifth embodiment of the surgical instrument of the present invention, the virtual center axis X1 of the pitch/yaw drive handle 5112 in the Z-axis direction is closer to the virtual center axis X2 of the pitch/yaw drive joint 5111 in the Z-axis direction. Although formed close to the end tool 520 side, the pitch/yaw drive handle 5112 is positioned closer to the virtual center axis X2 of the pitch/yaw drive joint 5111 in the Z-axis direction in almost all operating states of the pitch/yaw operation unit 511. It is formed close to end tool 520 .

In this manner, in at least one operating state of the pitch/yaw operation section 511, the pitch/yaw drive handle 5112 is closer to the end tool 520 than the imaginary center axis X2 of the pitch/yaw drive joint 5111 in the Z-axis direction. As a result, the fingers and hands positioned ahead of the wrist joint of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip side of the hand is fixed, and the rear part such as the wrist and arm must move greatly, and the operation of the end tool is greatly different, which is intuitive. difficult to operate. However, due to such characteristics, the present embodiment can obtain the effect of greatly improving the intuitiveness in the operation of the operation section for manipulating the end tool, unlike the existing instruments.

<Sixth Embodiment of Surgical Instrument> (E1+H22b)
A surgical instrument 600 according to a sixth embodiment of the present invention will now be described. Here, the surgical instrument 600 according to the sixth embodiment of the present invention has a greater pitch / It is characteristically different in that the Z-direction virtual central axis X1 of the yaw drive handle 6112 is formed on the same line as the Z-direction virtual central axis X2 of the pitch/yaw drive joint 6111 .

20 and 21 are drawings showing a surgical instrument 600 according to a sixth embodiment of the present invention. 20 and 21, the surgical instrument 600 according to the sixth embodiment of the present invention includes an operating portion 610, an end tool 620, a power transmission portion 630 and a connection portion 640. As shown in FIG.

The controls 610 of the surgical instrument 600 include pitch/yaw controls 611 that control the pitch and yaw movements of the end tool 620 and actuation controls 613 that control the actuation movements of the end tool 620. . Here, the pitch/yaw operating portion 611 includes a pitch/yaw drive joint 6111 and a pitch/yaw drive handle 6112 . At that time, the pitch/yaw drive joint 6111 is rotatably formed around the Y-axis and the Z-axis, and the pitch/yaw drive handle 6112 is connected with the pitch/yaw drive joint 6111 and together with the pitch/yaw drive joint 6111 . formed to rotate. Here, the pitch/yaw drive joint 6111 is also a bending joint member.

On the other hand, the end tool 620 of the surgical instrument 600 applies the bending joint member described in FIGS. 7A to 7D as the joint member 625. FIG. That is, the end tool 620 includes a first jaw (not shown), a second jaw 622 , a jaw base 623 and an articulation member 625 . Meanwhile, the power transmission part 630 applied to the surgical instrument 600 according to the sixth embodiment of the present invention includes one or more pitch wires 631W, one or more yaw wires 632W, and one or more actuation wires 633W.

Here, in the sixth embodiment of the surgical instrument of the present invention, the virtual center axis X1 in the Z-axis direction of the pitch/yaw drive handle 6112 of the surgical instrument 600 is aligned with the Z-axis direction of the pitch/yaw drive joint 6111. is formed at the same distance from the virtual center axis X2 of the end tool. In that case, the center of rotation of the joint is placed where the user takes the pitch/yaw drive handle 6112 .

Further, in the sixth embodiment of the surgical instrument of the present invention, at least in the operation state of any one of the pitch/yaw operation and the operating portion 611, the pitch/yaw drive handle 6112 is the pitch/yaw drive joint 6111. It is formed closer to the end tool 620 than the imaginary central axis X2 in the Z-axis direction. That is, in the sixth embodiment of the surgical instrument of the present invention, the virtual center axis X1 of the pitch/yaw drive handle 6112 in the Z-axis direction and the virtual center axis X2 of the pitch/yaw drive joint 6111 in the Z-axis direction are Although formed on the same line, if the pitch/yaw operation part 611 rotates even a little about the pitch/yaw drive joint 6111 in the state shown in FIG. It is formed closer to the end tool 620 than the imaginary central axis X2 of the yaw drive joint 6111 in the Z-axis direction.

Thus, in at least one operating state of the pitch/yaw operation portion 611, the pitch/yaw drive handle 6112 is closer to the end tool 620 than the imaginary center axis X2 of the pitch/yaw drive joint 6111 in the Z-axis direction. As a result, the fingers and hands positioned ahead of the wrist joint of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip side of the hand is fixed, and the rear part such as the wrist and arm must move greatly, and the operation of the end tool is greatly different, which is intuitive. difficult to operate. However, due to such characteristics, the present embodiment can obtain the effect of greatly improving the intuitiveness in the operation of the operation section for manipulating the end tool, unlike the existing instruments.

<Seventh Embodiment of Surgical Instrument> (E1+H22c)
A surgical instrument 700 according to a seventh embodiment of the present invention will now be described. Here, the surgical instrument 700 according to the seventh embodiment of the present invention has a greater pitch / It is characteristically different in that the virtual Z-direction central axis X1 of the yaw drive handle 7112 is formed farther from the end tool 720 than the virtual Z-direction central axis X2 of the pitch/yaw drive joint 7111 . The actuation manipulator 713 is also different compared to the surgical instrument 500 (FIG. 19A) according to the fifth embodiment of the present invention. The configuration that is different from the fifth embodiment in this way will be described in detail later.

22, 23 and 24 are drawings showing a surgical instrument 700 according to a seventh embodiment of the present invention. 22, 23 and 24, the surgical instrument 700 according to the seventh embodiment of the present invention includes an operating portion 710, an end tool 720, a power transmission portion 730 and a connection portion 740. As shown in FIG.

The controls 710 of the surgical instrument 700 include pitch/yaw controls 711 that control the pitch and yaw movements of the end tool 720 and actuation controls 713 that control the actuation movements of the end tool 720. .

Here, the pitch/yaw operating portion 711 includes a pitch/yaw drive joint 7111 and a pitch/yaw drive handle 7112 . At that time, the pitch/yaw drive joint 7111 is rotatably formed around the Y-axis and the Z-axis, and the pitch/yaw drive handle 7112 is connected with the pitch/yaw drive joint 7111 and together with the pitch/yaw drive joint 7111 . formed to rotate. Here, the pitch/yaw drive joint 7111 is also a combination of an articulated joint member and a ball joint. A combination type joint of such a bending type joint member and a ball joint will be described later with reference to FIG.

On the other hand, the actuation manipulating part 713 includes an actuation driving shaft 7131, a first actuation driving part 7132, a second actuation driving part 7133 and an actuation guide pin 713WG. In detail, the first actuation driving part 7132 and the second actuation driving part 7133 are formed with shaft through holes (not shown), respectively, and the first actuation driving part 7132 and the second actuation driving part 7133 are formed with shaft through holes (not shown). The actuation drive shaft 7131 is inserted through a shaft through-hole (not shown) of . The first actuation drive section 7132 and the second actuation drive section 7133 rotate around the actuation drive shaft 7131 .

On the other hand, a guide hole 7133b is formed on one side of each shaft through-hole (not shown) of each of the first actuation driving part 7132 and the second actuation driving part 7133. The actuation guide pin 713WG is inserted through the guide hole 7133b of the second actuation drive portion 7133. As shown in FIG. An actuation wire 733W is coupled to the actuation guide pin 713WG. Therefore, when the first actuation driving part 7132 and the second actuation driving part 7133 rotate, the actuation guide pin 713WG connected thereto moves along the guide hole 7133b, whereby the actuation wire 733W is straightened. Translational motion is performed, and actuation motion is performed.

For example, in the state shown in FIG. 23, either one side or both sides of the first actuation drive section 7132 and the second actuation drive section 7133 are rotated in directions A1 and/or A2 in FIG. Then, the actuation guide pin 713WG linearly moves in the direction of arrow B, and accordingly the actuation wire 733W connected thereto linearly moves in the direction of arrow C, and the first jaw 721 and the first jaw 721 of the end tool 720 connected thereto. The second jaw 722 opens on both sides. That is, it is one of various modifications for transmission of actuation motion, and the motion of the actuation operation part 713 can be transmitted to the end tool 720 not only by the above-mentioned link structure but also by a simple wire structure. It is an example of being transmitted, and other than that, various structures are possible to accomplish the same purpose.

However, in FIGS. 22 to 24, the actuation operation section 713 of the surgical instrument 700 according to the seventh embodiment of the present invention comprises a first actuation drive section 7132 and a second actuation drive section 7133, Although illustrated as performing the actuation motion with two fingers, the present embodiment is not so limited and can be performed with one finger, such as illustrated in FIG. 19B or FIG. Of course, the actuation operating portion 519 (FIG. 19B) or 613 (FIG. 21) that performs actuation motion is also applicable to this embodiment.

On the other hand, the end tool 720 of the surgical instrument 700 applies the bending joint member described in FIGS. 7A to 7D as the joint member 725 . That is, the end tool 720 includes a first jaw 721 , a second jaw 722 , a jaw base 723 and an articulation member 725 . Meanwhile, the power transmission part 730 applied to the surgical instrument 700 according to the seventh embodiment of the present invention includes one or more pitch wires 731W, one or more yaw wires 732W, and one or more actuation wires 733W.

Here, in the seventh embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch/yaw drive handle 7112 of the surgical instrument 700 is aligned with the Z-axis direction of the pitch/yaw drive joint 7111. is formed farther from the end tool than the imaginary central axis X2 of the . In that case, the tip side of the user's hand is fixed, and the back portion of the arm (such as the elbow) is moved based on that.

Further, in the seventh embodiment of the surgical instrument of the present invention, at least in any one operating state of the pitch/yaw operation portion 711, the pitch/yaw drive handle 7112 is aligned with the Z axis of the pitch/yaw drive joint 7111. It is formed closer to the end tool 720 than the imaginary central axis X2 of the direction. That is, in the seventh embodiment of the surgical instrument of the present invention, the pitch/yaw drive handle 7112 is located farther from the end tool 720 than the imaginary center axis X2 of the pitch/yaw drive joint 7111 in the Z-axis direction. However, if the pitch/yaw operation part 711 is rotated around the pitch/yaw drive joint 7111 by a certain angle or more in order to perform a pitch or yaw action, a part of the pitch/yaw drive handle 7112 will move to the pitch/yaw position. It is formed closer to the end tool 720 than the imaginary central axis X2 of the drive joint 7111 in the Z-axis direction.

Thus, in at least one operating state of the pitch/yaw operation portion 711, the pitch/yaw drive handle 7112 is closer to the end tool 720 than the imaginary center axis X2 of the pitch/yaw drive joint 7111 in the Z-axis direction. As a result, the fingers and hands positioned ahead of the wrist joint of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip side of the hand is fixed, and the rear part such as the wrist and arm must move greatly, and the operation of the end tool is greatly different, which is intuitive. difficult to operate. However, due to such characteristics, the present embodiment can obtain the effect of greatly improving the intuitiveness in the operation of the operation section for manipulating the end tool, unlike the existing instruments.

<Eighth Embodiment of Surgical Instrument> (E1+H23a)
A surgical instrument 800 according to an eighth embodiment of the present invention will now be described. Here, the surgical instrument 800 according to the eighth embodiment of the present invention differs from the previously described surgical instrument 100 according to the first embodiment of the present invention (FIG. 2) in that the pitch operation part and the The yaw control comprises an integrally formed pitch/yaw control 811 and is configured to perform the roles of pitch control and yaw control simultaneously, and when the pitch/yaw control 811 is the end tool. Although it is formed on the extension line of 820, it is different in that the connecting part 840 is not straight but bent at least once. Further, in the surgical instrument 800 according to the eighth embodiment of the present invention, the virtual center axis X1 in the Z-axis direction of the pitch/yaw drive handle 8112 of the surgical instrument 800 is aligned with the Z-axis direction of the pitch/yaw drive joint 8111. is formed closer to the end tool 820 side than the imaginary center axis X2 of . Such different configurations from the first embodiment will be described in detail later.

25, 26A and 26B are drawings showing a surgical instrument 800 according to an eighth embodiment of the present invention. 25, 26A and 26B, the surgical instrument 800 according to the eighth embodiment of the present invention includes an operating portion 810, an end tool 820, a power transmission portion 830 and a connecting portion 840. As shown in FIG.

The controls 810 of the surgical instrument 800 include pitch/yaw controls 811 that control the pitch and yaw movements of the end tool 820 and actuation controls 813 that control the actuation movements of the end tool 820. .

Here, the pitch/yaw operating portion 811 includes a pitch/yaw drive joint 8111 and a pitch/yaw drive handle 8112 . At that time, the pitch/yaw drive joint 8111 is rotatably formed around the Y-axis and the Z-axis, and the pitch/yaw drive handle 8112 is connected with the pitch/yaw drive joint 8111 and together with the pitch/yaw drive joint 8111 . formed to rotate. Here, the pitch/yaw drive joint 8111 is also a bending joint member.

On the other hand, the actuation manipulating part 813 includes an actuation driving shaft 8131, a first actuation driving part 8132, a second actuation driving part 8133 and an actuation guide pin 813WG. Such an actuation operation portion 813 has substantially the same configuration as the actuation operation portion 713 (FIG. 23) of the above-described seventh embodiment.

That is, when the first actuation driving part 8132 and the second actuation driving part 8133 rotate, the actuation guide pin 813WG connected thereto moves along the guide hole 8133b, whereby the actuation wire 833W is straightened. Translational motion is performed, and actuation motion is performed.

However, in FIGS. 25 to 27, the actuation operation section 813 of the surgical instrument 800 according to the eighth embodiment of the present invention comprises a first actuation drive section 8132 and a second actuation drive section 8133, Although illustrated as performing the actuation motion with two fingers, the present embodiment is not so limited and can be performed with one finger, such as illustrated in FIG. 19B or FIG. Of course, the actuation operating portion 519 (FIG. 19B) or 613 (FIG. 21) that performs actuation motion is also applicable to this embodiment.

On the other hand, the end tool 820 of the surgical instrument 800 applies the bending joint member described in FIGS. 7A to 7D as the joint member 825 . That is, end tool 820 includes first jaw 821 , second jaw 822 , jaw base 823 and articulation member 825 . Meanwhile, the power transmission part 830 applied to the surgical instrument 800 according to the seventh embodiment of the present invention includes one or more pitch wires 831W, one or more yaw wires 832W and actuation wires 833W.

Here, in the case of the eighth embodiment of the surgical instrument of the present invention, as described above, 1) the pitch/yaw operation section 811 in which the pitch operation section and the yaw operation section of the operation section 810 are integrally formed is provided. , and is formed to perform the roles of the pitch operation part and the yaw operation part at the same time. 2) At this time, the pitch/yaw operation part 811 is formed on the extension line of the end tool 820, but the connection part 840 is not straight but bent at least once. and

Further, in the case of the eighth embodiment of the surgical instrument of the present invention, the virtual center axis X1 of the pitch/yaw drive handle 8112 in the Z-axis direction is closer to the virtual center axis X2 of the pitch/yaw drive joint 8111 in the Z-axis direction. It is characterized by being formed close to the end tool 820 side.

Accordingly, the eighth embodiment of the surgical instrument of the present invention is such that, at least in any one of the pitch/yaw operating portions 811 operating states, the pitch/yaw drive handle 8112 is aligned with the Z axis of the pitch/yaw drive joint 8111. It is formed closer to the end tool 820 than the imaginary central axis X2 of the direction. That is, in the eighth embodiment of the surgical instrument of the present invention, the virtual central axis X1 of the pitch/yaw drive handle 8112 in the Z-axis direction itself is closer to the virtual central axis X2 of the pitch/yaw drive joint 8111 in the Z-axis direction. Although formed close to the end tool 820 side, the pitch/yaw drive handle 8112 is positioned closer to the virtual center axis X2 of the pitch/yaw drive joint 8111 in the Z-axis direction in almost all operating states of the pitch/yaw operation section 811. It is formed close to the end tool 820 .

Thus, in at least one operating state of the pitch/yaw operation section 811, the pitch/yaw drive handle 8112 is closer to the end tool 820 than the imaginary center axis X2 of the pitch/yaw drive joint 8111 in the Z-axis direction. As a result, the fingers and hands positioned ahead of the wrist joint of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip side of the hand is fixed, and the rear part such as the wrist and arm must move greatly, and the operation of the end tool is greatly different, which is intuitive. difficult to operate. However, due to such characteristics, the present embodiment can obtain the effect of greatly improving the intuitiveness in the operation of the operation section for manipulating the end tool, unlike the existing instruments.

27A and 27B are drawings showing a surgical instrument 800 according to a modified example of the eighth embodiment of the present invention. Here, the surgical instrument 800 according to one modification of the eighth embodiment of the present invention differs in features from the previously described surgical instrument 800 (FIG. 25) according to the eighth embodiment of the present invention. is that the actuation motion is performed with one finger instead of two fingers.

Specifically, the controls 810 of the surgical instrument 800 include a pitch/yaw control 811 that controls the pitch and yaw movements of the end tool 820 and an actuation control 813 that controls the actuation movement of the end tool 820 . and including. Actuation operation portion 813 includes an actuation drive shaft 8131 and an actuation drive portion 8132 . On the other hand, one end of the actuation drive shaft 8131 is connected to the first actuation link 8131 , and one end of the first actuation link 8131 is connected to the actuation wire 813 . The other end of actuation wire 813 is connected to an actuation guide pin (not shown) of end tool 820 . With such a configuration, the actuation movement can be performed with only one finger. It is a variation for the actuation manipulator 813 to ultimately perform the action of pushing and pulling the actuation wire 813, and other configurations for performing such action would be possible.

<Ninth embodiment of surgical instrument> (E1+H23b)
A surgical instrument 900 according to a ninth embodiment of the present invention will now be described. Here, the surgical instrument 900 according to the ninth embodiment of the present invention has a pitch/thickness of the surgical instrument 900 as compared to the previously described surgical instrument 800 (FIG. 25) according to the eighth embodiment of the present invention. It is characteristically different in that the Z-direction virtual center axis X1 of the yaw drive handle 9112 is formed on the same line as the Z-direction virtual center axis X2 of the pitch/yaw drive joint 9111 .

28, 29 and 30 are drawings showing a surgical instrument 900 according to a ninth embodiment of the present invention. 28, 29 and 30, the surgical instrument 900 according to the ninth embodiment of the present invention includes an operating portion 910, an end tool 920, a power transmission portion 930 and a connection portion 940. As shown in FIG.

The controls 910 of the surgical instrument 900 include pitch/yaw controls 911 that control the pitch and yaw movements of the end tool 920 and actuation controls 913 that control the actuation movements of the end tool 920. .

Here, the pitch/yaw operating portion 911 includes a pitch/yaw drive joint 9111 and a pitch/yaw drive handle 9112 . At that time, the pitch/yaw drive joint 9111 is rotatably formed around the Y-axis and the Z-axis, and the pitch/yaw drive handle 9112 is connected with the pitch/yaw drive joint 9111 and together with the pitch/yaw drive joint 9111. formed to rotate. Here, the pitch/yaw drive joint 9111 is also a flexion joint member.

On the other hand, the actuation manipulating part 913 includes an actuation driving shaft 9131, a first actuation driving part 9132, a second actuation driving part 9133 and an actuation guide pin 913WG. Such an actuation operation portion 913 has substantially the same configuration as the actuation operation portion 713 (FIG. 23) of the seventh embodiment.

That is, when the first actuation driving part 9132 and the second actuation driving part 9133 rotate, the actuation guide pin 913WG connected thereto moves along the guide hole 9133b, whereby the actuation wire 933W is straightened. Translational motion is performed, and actuation motion is performed. 29 is a diagram showing the actuation operation portion 913 with the first jaw 921 and the second jaw 922 opened, and FIG. 30 is a diagram showing the state with the first jaw 921 and the second jaw 922 closed. It is a drawing which shows the actuation operation part 913 in .

However, in FIGS. 28 to 30, the actuation operation section 913 of the surgical instrument 900 according to the ninth embodiment of the present invention comprises a first actuation drive section 9132 and a second actuation drive section 9133, Although illustrated as performing the actuation motion with two fingers, the present embodiment is not so limited and can be performed with one finger, such as illustrated in FIG. 19B or FIG. Of course, the actuation operating portion 519 (FIG. 19B) or 613 (FIG. 21) that performs actuation motion is also applicable to this embodiment.

On the other hand, the end tool 920 of the surgical instrument 900 applies the bending joint member described in FIGS. 7A to 7D as the joint member 925 . That is, end tool 920 includes first jaw 921 , second jaw 922 , jaw base 923 and articulation member 925 . Meanwhile, the power transmission part 930 applied to the surgical instrument 900 according to the ninth embodiment of the present invention includes one or more pitch wires 931W, one or more yaw wires 932W and actuation wires 933W.

Here, in the ninth embodiment of the surgical instrument of the present invention, the virtual center axis X1 in the Z-axis direction of the pitch/yaw drive handle 9112 of the surgical instrument 900 is aligned with the Z-axis direction of the pitch/yaw drive joint 9111. is formed at the same distance from the virtual center axis X2 of the end tool. In that case, the center of rotation of the joint is placed where the user takes the pitch/yaw drive handle 9112 .

Further, in the ninth embodiment of the surgical instrument of the present invention, the pitch/yaw drive handle 9112 is aligned with the Z axis of the pitch/yaw drive joint 9111 at least in any one operating state of the pitch/yaw operation section 911 . It is formed closer to the end tool 920 than the imaginary central axis X2 of the direction. That is, in the ninth embodiment of the surgical instrument of the present invention, the virtual center axis X1 of the pitch/yaw drive handle 9112 in the Z-axis direction and the virtual center axis X2 of the pitch/yaw drive joint 9111 in the Z-axis direction are Although formed on the same line, if the pitch/yaw control portion 911 rotates even slightly about the pitch/yaw drive joint 9111 in the state shown in FIG. It is formed closer to the end tool 920 than the imaginary central axis X2 of the driving joint 9111 in the Z-axis direction.

In this manner, in at least one operating state of the pitch/yaw operation portion 911, the pitch/yaw drive handle 9112 is closer to the end tool 920 than the imaginary center axis X2 of the pitch/yaw drive joint 9111 in the Z-axis direction. As a result, the fingers and hands positioned ahead of the wrist joint of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip side of the hand is fixed, and the rear part such as the wrist and arm must move greatly, and the operation of the end tool is greatly different, which is intuitive. difficult to operate. However, due to such characteristics, the present embodiment can obtain the effect of greatly improving the intuitiveness in the operation of the operation section for manipulating the end tool, unlike the existing instruments.

<Tenth Embodiment of Surgical Instrument> (E1+H23c)
A surgical instrument 1000 according to a tenth embodiment of the present invention will be described below. Here, the surgical instrument 1000 according to the tenth embodiment of the present invention has a pitch / It is characteristically different in that the virtual Z-direction central axis X1 of the yaw drive handle 10112 is formed farther from the end tool 1020 than the virtual Z-direction central axis X2 of the pitch/yaw drive joint 10111 .

31 and 32 are drawings showing a surgical instrument 1000 according to a tenth embodiment of the present invention. 31 and 32, the surgical instrument 1000 according to the tenth embodiment of the present invention includes an operation part 1010, an end tool 1020, a power transmission part 1030 and a connection part 1040. FIG.

The controls 1010 of the surgical instrument 1000 include pitch/yaw controls 1011 that control the pitch and yaw movements of the end tool 1020 and actuation controls 1013 that control the actuation movements of the end tool 1020. .

Here, the pitch/yaw operation part 1011 includes a pitch/yaw drive joint 10111 and a pitch/yaw drive handle 10112 . At that time, the pitch/yaw drive joint 10111 is rotatably formed around the Y-axis and the Z-axis, and the pitch/yaw drive handle 10112 is connected with the pitch/yaw drive joint 10111 and together with the pitch/yaw drive joint 10111. formed to rotate. Here, the pitch/yaw drive joint 10111 is also a bending joint member.

On the other hand, the actuation manipulating part 1013 includes an actuation driving shaft 10131, a first actuation driving part 10132, a second actuation driving part 10133 and an actuation guide pin 1013WG. Such an actuation operation portion 1013 has substantially the same configuration as the actuation operation portion 713 (FIG. 23) of the seventh embodiment.

That is, when the first actuation driving part 10132 and the second actuation driving part 10133 rotate, the actuation guide pin 1013WG connected thereto moves along the guide hole 10133b, whereby the actuation wire 1033W is straightened. Translational motion is performed, and actuation motion is performed. Here, FIG. 32 is a drawing showing the actuation operation portion 1013 in a state where the first jaw 1021 and the second jaw 1022 are closed.

However, in FIGS. 31 and 32, the actuation operation section 1013 of the surgical instrument 1000 according to the tenth embodiment of the present invention comprises a first actuation drive section 10132 and a second actuation drive section 10133, Although illustrated as performing the actuation motion with two fingers, the present embodiment is not so limited and can be performed with one finger, such as illustrated in FIG. 19B or FIG. Of course, the actuation operating portion 519 (FIG. 19B) or 613 (FIG. 21) that performs actuation motion is also applicable to this embodiment.

On the other hand, the end tool 1020 of the surgical instrument 1000 applies the bending joint member described in FIGS. 7A to 7D as the joint member 1025. FIG. That is, the end tool 1020 includes a first jaw 1021 , a second jaw 1022 , a jaw base 1023 and an articulation member 1025 . Meanwhile, the power transmission part 1030 applied to the surgical instrument 1000 according to the tenth embodiment of the present invention includes one or more pitch wires 1031W, one or more yaw wires 1032W and actuation wires 1033W.

Here, in the tenth embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch/yaw drive handle 10112 of the surgical instrument 1000 is aligned with the Z-axis direction of the pitch/yaw drive joint 10111. is formed farther from the end tool than the imaginary central axis X2 of the . In that case, the tip side of the user's hand is fixed, and the back portion of the arm (such as the elbow) is moved based on that.

Further, according to the tenth embodiment of the surgical instrument of the present invention, at least in any one operation state of the pitch/yaw operation section 1011, the pitch/yaw drive handle 10112 is positioned on the Z axis of the pitch/yaw drive joint 10111. It is formed closer to the end tool 1020 than the imaginary central axis X2 of the direction. That is, in the tenth embodiment of the surgical instrument of the present invention, the pitch/yaw drive handle 10112 is positioned farther from the end tool 1020 than the imaginary center axis X2 of the pitch/yaw drive joint 10111 in the Z-axis direction. However, if the pitch/yaw operation part 1011 is rotated around the pitch/yaw drive joint 10111 by a certain angle or more in order to perform a pitch or yaw action, a part of the pitch/yaw drive handle 10112 can be used for the pitch/yaw drive. It is formed closer to the end tool 1020 than the imaginary central axis X2 of the joint 10111 in the Z-axis direction.

Thus, in at least one operating state of the pitch/yaw operation section 1011, the pitch/yaw drive handle 10112 is closer to the end tool 1020 than the imaginary center axis X2 of the pitch/yaw drive joint 10111 in the Z-axis direction. As a result, the fingers and hands positioned ahead of the wrist joint of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip side of the hand is fixed, and the rear part such as the wrist and arm must move greatly, and the operation of the end tool is greatly different, which is intuitive. difficult to operate. However, due to such characteristics, the present embodiment can obtain the effect of greatly improving the intuitiveness in the operation of the operation section for manipulating the end tool, unlike the existing instruments.

<Modified Example of End Tool of Surgical Instrument>
Features of the end tool of the present invention are as follows. Wires are positioned at both ends of the cross-section of the end tool joint, and have the property of warping to that side when one is pulled. In other words, the pitch wire and yaw wire are positioned in four directions of the cross section, and the actuation wire passes through the middle, so that pitch motion, yaw motion, and actuation motion can be performed, and each motion affects other motions. A major feature is that it is performed independently without affecting the There are various specific structures that can implement such features, and specific modifications will be given below. However, the modifications described below refer to some of the various modifications that can embody the basic features described above, and the invention can be carried out even if they are not mentioned here. Many different examples are possible, all of which would be considered within the context of the present invention.

Various variations of the end tool of the surgical instrument of the present invention are described below. In the end tool of the surgical instrument of the present invention, in addition to the bending joint member described with reference to FIG. The reason that such knuckle-type or gear-type articulation members can be used is that the end tool configuration of the surgical instrument of the present invention provides pitch or yaw motion by pushing and pulling the respective wires. because of the configuration. That is, pulling or pushing the pitch or yaw wires will cause the corresponding pitch or yaw rotation in the articulating member. In the following, it will be explained in more detail.

FIG. 33 is a drawing showing a first modified example of the end tool of the surgical instrument shown in FIG. 2 and the like (knot type 1).

Referring to FIG. 33 , a first modification of the surgical instrument end tool applies a joint member 126 of the end tool 120 to a joint member. That is, in the end tool 120 (FIG. 7) of the surgical instrument shown in FIGS. 2 and 7, the joint member 120 (FIG. 7) uses a bending joint member to perform pitch motion, yaw motion, and actuation motion. 7), one feature of this embodiment is that a joint member 126 for performing pitch and yaw motions is configured by applying a joint member.

Specifically, the joint member 126 includes one or more pitch joints 126P acting as a pitch axis and one or more yaw joints 126Y acting as a yaw axis. Here, the pitch joint 126P has a pitch joint 126PC formed to protrude toward the end tool 120 on the Y-axis direction diameter of the pitch joint 126P so as to be jointed with an adjacent joint, and a yaw joint 126Y. has a yaw connecting portion 126YC formed to protrude toward the end tool 120 on the Z-axis direction diameter of the yaw joint 126Y so as to be connected to an adjacent joint.

Therefore, as viewed in FIG. 33, the pitch joint 126P of the joint member 126 is rotatable about the Y-axis and serves as the center of rotation for the pitch motion. A yaw joint 126Y of the joint member 126 is rotatable about the Z-axis and serves as the center of rotation for yaw motion.

In addition, this modification can further include an elastic member 126S. That is, the elastic member 126S is accommodated inside the pitch joint 126P and the yaw joint 126Y, and the joint member 126 provides a predetermined elastic force in the direction of the original position.

34 and 35 are drawings showing a second modified example of the end tool of the surgical instrument shown in FIG. 2 etc. (knot type 2).

Referring to FIGS. 34 and 35 , a second modification of the end tool of the surgical instrument applies a joint member as the joint member 127 of the end tool 120 . That is, in the end tool 120 (FIG. 7) of the surgical instrument illustrated in FIGS. 2 and 7, the joint member 120 for performing pitch motion, yaw motion, and actuation motion utilizes a bending joint member. In contrast to the structure shown in FIG. 7, this embodiment is characterized in that a joint member 126 for performing pitch and yaw motions is formed by applying a joint member.

Specifically, the joint member 127 includes one or more pitch joints 127P acting as a pitch axis and one or more yaw joints 127Y acting as a yaw axis. Here, the pitch joint 127P is provided with a pitch joint 127PC formed to protrude toward the end tool 120 on the Y-axis direction diameter of the pitch joint 127P so as to be jointed with the adjacent joint, and the yaw joint 127Y has a yaw connecting portion 127YC formed to protrude toward the end tool 120 on the Z-axis direction diameter of the yaw joint 127Y so as to be connected to an adjacent joint.

Therefore, as viewed in FIG. 34, the pitch joint 127P of the joint member 127 is rotatable up and down around the Y-axis, and serves as the center of rotation for the pitch motion. A yaw joint 127Y of the joint member 127 is rotatable to the left and right about the Z axis, and serves as the center of rotation of the yaw motion.

One feature of this modification is that the pitch joint 127P and the yaw joint 127Y are alternately formed. That is, as shown in FIG. 34, pitch nodes 127P, yaw nodes 127Y, pitch nodes 127P, and yaw nodes 127Y are alternately formed. In addition, this modification can further include an elastic member 127S. That is, the elastic member 127S is accommodated inside the pitch joint 127P and the yaw joint 127Y, and the joint member 127 provides a predetermined elastic force in the direction of the original position.

36 to 38 are drawings showing a third modification (gear type) of the end tool of the surgical instrument shown in FIG. 2 and the like.

36 to 38, a third modification of the surgical instrument end tool applies a gear type joint member as the joint member 128 of the end tool 120. FIG. That is, in the end tool 120 (FIG. 7A) of the surgical instrument illustrated in FIGS. 2 and 7, a bending type joint member is used to perform pitch motion, yaw motion, and actuation motion. 125 (FIG. 7A), this embodiment is characterized in that a gear-type joint member is applied to form a joint member 128 for performing pitch and yaw movements.

Specifically, the joint member 128 includes pitch gears 128P1 and 128P2 that perform pitch motion, and yaw gears 128Y1 and 128Y2 that perform yaw motion. In addition, an end tool connecting member 128C that connects the connecting portion 140 and the jaw base 123 is further included. At that time, the second pitch gear 128P2 is rotatably formed about the axis of the first pitch gear 128P1 to perform pitch motion, and the second yaw gear 128Y2 is formed to rotate about the axis of the first yaw gear 128Y1 to perform yaw motion. is rotatably formed around.

Here, the first yaw gear 128Y1 is fixed to one end of the connecting portion 140. As shown in FIG. A second yaw gear 128Y2 is fixed to the end tool connecting member 128C, and both sides of the yaw wire are pulled and pushed to rotate the second yaw gear 128Y2 with respect to the first yaw gear 128Y1. It serves to rotate the jaw base 123, the first jaw 121 and the second jaw 122 connected to the tool connecting member 128C around the axis of the first yaw gear 128Y1.

On the other hand, the first pitch gear 128P1 is fixed to the end tool connecting member 128C. A second pitch gear 128P2 is fixed to the jaw base 123, and both sides of the pitch wire are pulled and pushed to rotate the second pitch gear 128P2 with respect to the first pitch gear 128P1. 123, the first jaw 121 and the second jaw 122 rotate about the axis of the first pitch gear 128P1.

Therefore, the second pitch gear 128P2 of the joint member 128 is rotatable around the axis of the first pitch gear 128P1 and serves as the rotation center of the pitch motion. Also, the second yaw gear 128Y2 of the joint member 128 is rotatable about the axis of the first yaw gear 128Y1, and serves as the rotation center of the yaw motion.

<Modified example of operation part joint of surgical instrument>
As illustrated in FIG. 2, the pitch-driven joint feature of the present invention is capable of motion in the pitch direction via rotation in the Y-axis, with pitch wire, yaw wire and is positioned, and the actuation wire is positioned in the middle, and the pitch movement by the pitch drive joint, the yaw movement by the movement of the yaw operation part, and the actuation movement by the movement of the actuation operation part do not affect other movements. It can be done independently without exerting any influence. There are various specific structures that can implement such features, and specific modifications thereof will be given below. However, the variations described below refer to some of the various variations that can embody the basic features described above, and even if they are not mentioned here, the variations that can perform the features. A variety of examples are possible, all of which would be considered within the context of the present invention.

FIG. 39 is a drawing showing a first modified example of the pitch drive joint 1111 (FIG. 2) of the surgical instrument shown in FIG. 2 etc. (gear type-G).

Referring to FIG. 39, a first modification of the pitch-driven joint of the surgical instrument applies a gear-type joint member as the pitch-driven joint 1111G of the operation unit 110. As shown in FIG. That is, in the operation part 110 (FIG. 2) of the surgical instrument shown in FIGS. 2), one feature of this modified example is that a gear-type joint member is applied to form a pitch drive joint 1111G for performing a pitch motion.

Specifically, the pitch drive joint 1111G includes pitch gears 1111G1 and 1111G2 for performing the pitch drive joint role. At that time, the first pitch gear 1111G1 and the second pitch gear 1111G2 are rotatable about each other's axis so as to perform a pitch motion.

Here, the first pitch gear 1111G1 is fixed to one end of the pitch driving joint 1111G, and the second pitch gear 1111G2 is fixed to one end of the connecting part 140 to rotate the pitch driving handle 1112. For example, the first pitch gear 1111G1 and the end tool 120 connected thereto rotate about the Y axis.

That is, the first pitch gear 1111G1 of the pitch drive joint 1111G is rotatable about the axis of the second pitch gear 1111G2 along the second pitch gear 1111G2, and serves as the rotation center of the pitch motion.

At that time, the actuation wires (not shown) pass through the centers of the two parallel pitch wires 131W and the centers of the two parallel yaw wires 132W, respectively. Not affected.

FIG. 40 is a drawing showing a second modification of the pitch drive joint 1111 (FIG. 2) of the surgical instrument shown in FIG. 2 and the like (node type-J).

Referring to FIG. 40 , a second modification of the pitch-driven joint of the surgical instrument applies a nodal joint member as the pitch-driven joint 1111J of the operation unit 110 . That is, in the operation part 110 (FIG. 2) of the surgical instrument shown in FIGS. 2), one feature of this modified example is that a joint member is applied to form a pitch drive joint 1111J for performing a pitch motion.

Specifically, the pitch driven joint 1111J includes pitch nodes 1111J1 and 1111J2 for performing the pitch driven joint role. At that time, the first pitch joint 1111J1 and the second pitch joint 1111J2 are respectively rotatable about the Y-axis to perform pitch motion.

Here, the first pitch joint 1111J1 has a pitch connection portion 1111J1C formed to protrude toward the end tool 120 on the Y-axis direction diameter of the first pitch joint 1111J1 so as to be connected to the adjacent joint. , The second pitch joint 1111J2 includes a pitch joint 1111J2C formed to protrude toward the end tool 120 on the Y-axis direction diameter of the second pitch joint 1111J2 so as to be joined to an adjacent joint.

Here, the first pitch joint 1111J1 and the second pitch joint 1111J2 are formed to connect the connection part 140 and the pitch drive joint 1111J, and when the pitch drive handle 1112 is rotated, the first pitch joint 1111J1 and the second pitch joint 1111J2 are formed. The end tool 120 connected thereto will rotate about the Y axis. At that time, the amount of rotation of the first pitch joint 1111J1 and the amount of rotation of the second pitch joint 1111J2 are combined to obtain the amount of rotation of the entire pitch drive joint 1111J.

That is, the pitch joints 1111J1 and 1111J2 of the pitch drive joint 1111J are rotatable around the Y-axis and serve as the rotation center of the pitch motion.

At that time, the actuation wires (not shown) pass through the centers of the two parallel pitch wires 131W and the centers of the two parallel yaw wires 132W, respectively. Not affected.

<Modified example of yaw operation unit of surgical instrument>
As shown in FIG. 2, the yaw operation part of the present invention is characterized by rotating around the Z axis and pulling and pushing yaw wires connected to both sides. There are various specific structures that can implement such features, and specific modifications thereof will be described below. However, the variations described below refer to some of the various variations that can embody the basic features described above, and even if they are not mentioned here, the variations that can perform the features. A variety of examples are possible, all of which would be considered within the context of the present invention.

FIG. 41 is a drawing showing a first modified example of the yaw operation section 112 (FIG. 2) of the surgical instrument shown in FIG. 2 and the like (flexion type-S).

Referring to FIG. 41 , a first modified example of the yaw operation section of the surgical instrument applies a bending joint member as the yaw operation section 112S of the operation section 110 . That is, in the operating portion 110 (FIG. 4) of the surgical instrument shown in FIGS. 2 and 4, the operating portion In contrast to the configuration of the yaw operation section 112 (FIG. 4) for performing the yaw motion in the present modified example, the yaw operation section 112S for performing the yaw motion is configured by applying a bending joint member. is one feature.

Specifically, the yaw operation part 112S includes a yaw joint member 1121S in the form of a bent joint member for performing a yaw driving joint role, and a yaw driving part 1122 formed at one end of the yaw joint member 1121S. At that time, the yaw joint member 1121S is rotatably formed around the Z axis so as to perform yaw motion, and becomes the rotation center of the yaw motion.

FIG. 42 is a drawing showing a second modification of the yaw operation section 112 (FIG. 2) of the surgical instrument shown in FIG. 2 and the like (gear type-G).

Referring to FIG. 42 , a second modification of the yaw operation portion of the surgical instrument applies a gear type joint member as the yaw operation portion 112G of the operation portion 110 . That is, in the operation unit 110 (FIG. 4) of the surgical instrument shown in FIGS. 2 and 4, the yaw drive shaft 1121 (FIG. 4) and the pulley 1121a (FIG. 4) are used to In contrast to the configuration of the yaw operation unit 112 (FIG. 4) for performing the yaw operation, in this modified example, the yaw operation unit 112G for performing the yaw operation is configured by applying a gear type joint member. One feature.

Specifically, the yaw operation part 112G includes a yaw joint member 1121G in the form of a gear-type joint member for performing a yaw driving joint role, and a yaw driving part 1122 formed at one end of the yaw joint member 1121G.

Specifically, the yaw operation unit 112G includes yaw gears 1121G1 and 1121G2 for acting as yaw drive joints. At that time, the second yaw gear 1121G2 is rotatable about the Z axis so as to perform yaw motion.

Here, the first yaw gear 1121G1) is fixed to one end of the pitch driving handle 1112, and the second yaw gear 1121G2 is fixed to one end of the yaw driving part 1122 to rotate the yaw driving part 1122. Then, along the first yaw gear 1121G1, the second yaw gear 1121G2 rotates around the axis of the first yaw gear 1121G1. That is, the yaw operation part 112G is rotatable around the Z axis and performs yaw motion.

FIG. 43 is a drawing showing a third modification of the yaw operation section 112 (FIG. 2) of the surgical instrument shown in FIG. 2 and the like (node type-J).

Referring to FIG. 43 , a third modification of the yaw operation portion of the surgical instrument applies a joint member as the yaw operation portion 112J of the operation portion 110 . That is, in the operation unit 110 (FIG. 4) of the surgical instrument shown in FIGS. 2 and 4, the yaw drive shaft 1121 (FIG. 4) and the pulley 1121a (FIG. 4) are used to In contrast to the configuration of the yaw operation unit 112 (FIG. 4) for performing the yaw motion, in this modified example, a yaw operation unit 112J for performing the yaw motion using a joint member is configured. One feature.

Specifically, the yaw operation part 112J includes a yaw joint member 1121J in the form of a knot joint for performing a yaw driving joint role, and a yaw driving part 1122 formed at one end of the yaw joint member 1121J.

Specifically, the yaw operation unit 112J includes yaw joints 1121J1 and 1121J2 for acting as yaw drive joints. At that time, the first yaw joint 1121J1 and the second yaw joint 1121J2 are each rotatable about the Z-axis to perform yaw motion. At that time, the amount of rotation of the first yaw joint 1121J1 and the amount of rotation of the second yaw joint 1121J2 are combined to obtain the amount of rotation of the entire yaw joint member 1121J.

Here, the first yaw joint 1121J1 is formed at one end of the pitch driving handle 1112, the second yaw joint 1121J2 is formed at one end of the yaw driving part 1122, and when the yaw driving part 1122 is rotated, the The first yaw joint 1121J1 and the second yaw joint 1121J2 rotate about the Z axis, pushing one side of the yaw wire (not shown) and pulling the other side. That is, the yaw operation part 112J is rotatable around the Z axis and performs yaw motion.

<Modified Example of Pitch/Yaw Joint of Surgical Instrument>
A feature of the pitch/yaw joint of the present invention, as illustrated in FIG. In performing the yaw motion, each pitch motion and yaw motion do not affect other motions, and the actuation motions by the actuation operation section do not mutually affect other motions. There are various specific structures that can implement such features, and specific modifications thereof will be given below. However, the variations described below refer to some of the various variations that can embody the basic features described above, and even if they are not mentioned here, the variations that can perform the features. A variety of examples are possible, all of which would be considered within the context of the present invention.

FIG. 44 is a drawing (ball joint-B) showing a first modification of the pitch/yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A and others.

Referring to FIG. 44 , a first modification of the pitch/yaw drive joint of the surgical instrument applies a ball joint as the pitch/yaw drive joint 1111B of the operation unit 110 . That is, in the operating portion 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, a bending joint member is utilized to pitch/yaw drive joints 5111 ( 19A), this modified example is characterized in that a pitch/yaw drive joint 1111B for performing pitch and yaw motions is configured by applying a ball joint. Here, the ball joint itself is a known technology, and detailed description thereof is omitted in this specification.

The pitch/yaw drive joint 1111B then rotates up and down about the Y axis and becomes the center of rotation for the pitch motion. Also, the pitch/yaw drive joint 1111B rotates left and right about the Z axis and becomes the center of rotation for yaw motion.

On the other hand, both ends of the pitch wire 131W and the yaw wire 132W are coupled to one end inside the pitch/yaw drive joint 1111B. Therefore, when the pitch/yaw drive handle 1112 rotates, the pitch/yaw drive joint 1111B connected thereto rotates, and while the pitch/yaw drive joint 1111B rotates, either one end of the pitch wire 131W or the yaw wire 132W is rotated. Pushing and pulling on the other end produces pitch or yaw movement of the end tool 120 coupled thereto.

FIG. 45 is a drawing showing a second variation (universal joint-U) of the pitch/yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A and others.

Referring to FIG. 45 , a second modification of the pitch/yaw drive joint of the surgical instrument applies a universal joint as the pitch/yaw drive joint 1111U of the operation unit 110 . That is, in the operating portion 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, a bending joint member is utilized to pitch/yaw drive joints 5111 ( 19A), this modified example is characterized in that a pitch/yaw driven joint 1111U for performing pitch and yaw motions is configured by applying a universal joint. Here, the universal joint itself is a known technology, and detailed description thereof is omitted in this specification.

At that time, the pitch/yaw drive joint 1111U rotates up and down around the Y axis and becomes the center of rotation for the pitch motion. Also, the pitch/yaw drive joint 1111U rotates left and right about the Z axis and becomes the rotation center of the yaw motion.

On the other hand, both ends of the pitch wire 131W and the yaw wire 132W are coupled to one end inside the pitch/yaw drive joint 1111U. Therefore, when the pitch/yaw drive handle 1112 rotates, the pitch/yaw drive joint 1111U connected thereto rotates, and while the pitch/yaw drive joint 1111U rotates, either one end of the pitch wire 131W or the yaw wire 132W is rotated. Pushing and pulling on the other end produces pitch or yaw movement of the end tool 120 coupled thereto.

FIG. 46 is a drawing (SB) showing a third variation of the pitch/yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A and elsewhere.

Referring to FIG. 46, a third modification of the pitch/yaw drive joint of the surgical instrument applies a combined joint of a bending joint member and a ball joint as the pitch/yaw drive joint 1111SB of the operation unit 110. do. That is, in the operating portion 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, a bending joint member is utilized to pitch/yaw drive joints 5111 ( 19A), in this modified example, a bending joint member 1111S and a ball joint 1111B are applied together to form a pitch/yaw driven joint 1111SB for performing pitch and yaw movements. is one feature.

At that time, the pitch/yaw drive joint 1111SB rotates up and down about the Y axis and becomes the center of rotation for the pitch motion. Also, the pitch/yaw drive joint 1111SB rotates left and right about the Z axis and becomes the center of rotation for yaw motion.

On the other hand, both ends of the pitch wire 131W and the yaw wire 132W are coupled to one end inside the pitch/yaw drive joint 1111SB. Therefore, when the pitch/yaw drive handle 1112 rotates, the pitch/yaw drive joint 1111SB connected thereto rotates, and while the pitch/yaw drive joint 1111SB rotates, either one end of the pitch wire 131W or the yaw wire 132W is rotated. Pushing and pulling on the other end produces pitch or yaw movement of the end tool 120 coupled thereto.

At that time, the actuation wires (not shown) pass through the centers of the two parallel pitch wires 131W and the centers of the two parallel yaw wires 132W, respectively. Not affected.

FIG. 47 is a drawing (SU) showing a fourth variation of the pitch/yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A and elsewhere.

Referring to FIG. 47, a fourth modification of the pitch/yaw drive joint of the surgical instrument applies a combined joint of a bending joint member and a universal joint as the pitch/yaw drive joint 1111SU of the operation unit 110. do. That is, in the operating portion 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, a bending joint member is utilized to pitch/yaw drive joints 5111 ( 19A), in this modified example, both the bending joint member 1111S and the universal joint 1111U are applied to form a pitch/yaw driven joint 1111SU for performing pitch and yaw movements. One feature.

At that time, the pitch/yaw drive joint 1111SU rotates up and down around the Y axis and becomes the center of rotation for the pitch motion. Also, the pitch/yaw drive joint 1111SU rotates left and right about the Z-axis and becomes the rotation center of the yaw motion.

On the other hand, both ends of the pitch wire 131W and the yaw wire 132W are coupled to one end inside the pitch/yaw drive joint 1111SU. Therefore, when the pitch/yaw drive handle 1112 rotates, the pitch/yaw drive joint 1111SU connected thereto rotates, and while the pitch/yaw drive joint 1111SU rotates, either one end of the pitch wire 131W or the yaw wire 132W is rotated. Pushing and pulling on the other end produces pitch or yaw movement of the end tool 120 coupled thereto.

FIG. 48 is a drawing (JB) showing a fifth variation of the pitch/yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A and elsewhere.

Referring to FIG. 48, a fifth modification of the pitch/yaw drive joint of the surgical instrument applies a combined joint of a joint member and a ball joint as the pitch/yaw drive joint 1111JB of the operation unit 110. do. That is, in the operating portion 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, a bending joint member is utilized to pitch/yaw drive joints 5111 ( 19A), in this modified example, both a joint member 1111J and a ball joint 1111B are applied to form a pitch/yaw driven joint 1111JB for performing pitch and yaw movements. One feature.

At that time, the pitch/yaw drive joint 1111JB rotates up and down about the Y axis and becomes the center of rotation for the pitch motion. Also, the pitch/yaw drive joint 1111JB rotates left and right about the Z axis and becomes the center of rotation for yaw motion.

On the other hand, both ends of the pitch wire 131W and the yaw wire 132W are coupled to one end inside the pitch/yaw drive joint 1111JB. Therefore, when the pitch/yaw drive handle 1112 rotates, the pitch/yaw drive joint 1111JB connected thereto rotates, and while the pitch/yaw drive joint 1111JB rotates, one end of either the pitch wire 131W or the yaw wire 132W rotates. By pushing and pulling on the other end, the end tool 120 connected therewith is pitched or yawed.

FIG. 49 is a drawing (JU) showing a sixth variation of the pitch/yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A and elsewhere.

Referring to FIG. 49, a sixth modified example of the pitch/yaw drive joint of the surgical instrument applies a combined joint between a joint member and a universal joint as the pitch/yaw drive joint 1111JU of the operation unit 110. do. That is, in the operating portion 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, a bending joint member is utilized to pitch/yaw drive joints 5111 ( 19A), in this modified example, both a joint member 1111J and a universal joint 1111U are applied to form a pitch/yaw driven joint 1111JU) for performing pitch and yaw movements. is one feature.

At that time, the pitch/yaw drive joint 1111JU rotates up and down around the Y axis and becomes the center of rotation for the pitch motion. Also, the pitch/yaw drive joint 1111JU rotates left and right around the Z axis and becomes the center of rotation for yaw motion.

On the other hand, both ends of the pitch wire 131W and the yaw wire 132W are coupled to one end inside the pitch/yaw drive joint 1111JU. Therefore, when the pitch/yaw drive handle 1112 rotates, the pitch/yaw drive joint 1111JU connected thereto rotates, and while the pitch/yaw drive joint 1111JU rotates, either one end of the pitch wire 131W or the yaw wire 132W is rotated. Pushing and pulling on the other end produces pitch or yaw movement of the end tool 120 coupled thereto.

<Modified Example of Roll Operation of Surgical Instrument>
FIG. 50 is a perspective view of a surgical instrument to which a roll function is added to the surgical instrument illustrated in FIG. 19A etc. FIGS. is a perspective view showing a state in which roll motion is performed.

Referring to FIG. 50, the surgical instrument 500R according to this modification is characterized by further comprising a roll operation part 550 for roll motion. That is, the surgical instrument further comprises a ball joint type roll operation part 550 covering the pitch/yaw drive joint 5111 (FIG. 19A) of the operation part 510 (FIG. 19A) of the surgical instrument shown in FIG. As the instrument 500R, roll motion is performed. Here, the roll operation means that when the roll operation portion 550 is rotated, the end tool 520 is rotated while the relative angle between the central axis of the connecting portion 540 and the central axis of the end tool 520 is maintained as it is. and the connecting part 540 rotate about their respective central axes.

That is, as shown in FIGS. 51A to 51E, when the roll operation unit 550 is rotated while other parts of the operation unit 510 are fixed, the bending angle of the joint member 525 is maintained. In this state, the first jaw 521 and the second jaw 522 connected thereto, and the jaw base 523 connected thereto are rotated together by the rotation of the roll operation portion 550 . The relative positions of the first jaw 521 and the second jaw 522 are kept constant while the first jaw 521 and the second jaw 522 rotate. That is, the jaws 521 and 522 of the end tool 520 rotate about the center axis of the jaw base 523 while maintaining the open angle. A more detailed description of this is as follows.

The end tool 520 rotates in the pitch direction and the yaw direction by rotating the pitch/yaw joint of the operating portion. That is, the pitch and yaw rotation of the manipulator relative to the coupling causes the pitch/yaw drive joints of the manipulator to rotate, which ultimately also causes the end tool 520 to move relative to the coupling. are refracted in the pitch and yaw directions.

At that time, the pitch bending angle determination of the end tool 520 is based on the difference between the relative pull and push of the two pitch wires located above and below on the cross-section toward the connecting portion side of the pitch/yaw drive joint of the manipulator. is. Similarly, the yaw deflection angle determination of the end tool 520 is the difference between the relative pull and push of the two yaw wires located on the left and right sides of the cross-section toward the coupling side of the pitch/yaw drive joint of the manipulator. .

The pitch/yaw drive joint of the operating part connects the connecting part and the operating part handle, and performs bending in the pitch and yaw directions. Although fixed above, the portion of the operating portion side end of the pitch/yaw drive joint is not fixed on the operating portion and cross-section and is configured to be rotatable, and the angle at which the end tool 520 is bent. In a state, only two jaws can perform a rotatable roll function.
More specifically, when the manipulator is flexed in the yaw direction relative to the coupling, as in the right-hand drawing, so that ultimately the end tool 520 is also flexed in the same direction. The pitch/yaw drive joint of the operating part is fixed to the connecting part, but the end section to the operating part side is not fixedly connected to the operating part handle and is rotatable. , and the connecting part connected thereto are rotated about the central axis of the connecting part, the pitch/yaw drive joint connected here is determined by the relative rotation between the connecting part and the operating part handle, It rotates while maintaining the folded form. At that time, the four pitch wires and yaw wires positioned at the ends of the four cross-sectional phases of the pitch/yaw drive joint also rotate. Thus, when the pitch/yaw drive joint rotates, the pitch wires and yaw wires positioned at the four ends of the cross section of the pitch/yaw drive joint rotate together, each leaving its original position, and the other wire position can be rotated.

That is, in such a case, the laterally positioned yaw wire on the cross-section of the pitch/yaw drive joint also passes, through rotation, to the vertically positioned pitch wire, leading to the firstly vertically positioned pitch wire. The wire also goes through rotation to the laterally positioned yaw wire. Therefore, if the rotation of the pitch/yaw drive joint is possible, it is meaningless to divide the four wires into the pitch wire and the yaw wire, and the four wires are positioned in the four directions on the cross section. However, if any wire is positioned in the horizontal direction on the cross section, it functions as a yaw wire, and if positioned in the vertical direction, it functions as a pitch wire.

Therefore, even if the pitch/yaw drive joint rotates with the joint and the roll handle, if the relative pitch deflection or yaw deflection is determined by the joint and the operating part handle, then the joint and the end Pitch or yaw deflection relative to tool 520 remains unaffected. The two thumbs of end tool 520 will then rotate about a central axis determined by the two thumb side end portions of the pitch/yaw drive joint of end tool 520 .

The actuation wires are then positioned so as to pass through the cross-sectional center of the pitch/yaw drive joint, are not fixed with the pitch/yaw drive joint, and do not rotate with the pitch/yaw drive joint when the pitch/yaw drive joint rotates. Actuation operations can be performed independently.

The position of the roll handle is then such that it allows or does not interfere with rotation of the pitch/yaw drive joints of the link and the handle while maintaining the relative articulated angle between the link and the handle. both come to That is, it can be fixedly positioned on the connecting part, fixedly positioned at the pitch/yaw drive joint of the operating part, or fixed by extending to the operating part side of the pitch/yaw driven joint of the operating part. It is also possible to position

On the other hand, the pitch/yaw drive joints of the operation unit can be various snake joints, joints, ball joints, etc., which satisfy the above requirements, and detailed descriptions thereof will be omitted.

Although the invention has been described herein with a focus on limited embodiments, many other embodiments are possible within the scope of the invention. Also, although not described, equivalent means are also directly coupled to the present invention. Therefore, the true scope of protection of this invention is determined by the claims.

The present invention is applicable to manually actuatable surgical instruments for use in laparoscopic surgery or in a wide variety of surgical procedures.

Claims (22)

a pitch motion in which the end tool bends such that the end of the end tool facing away from the user rotates about a second direction; and a yaw motion in which the end tool bends such that the end rotates about a third direction. a moving end tool;
a pitch operation section for controlling pitch motion of the end tool; a yaw operation section coupled to one end of the pitch operation section for controlling yaw motion of the end tool; and an actuator for controlling actuation motion of the end tool. a variation control, wherein the pitch control is formed by an articulated articulation member that bends in one or more directions;
a power transmission unit that transmits the operation of the operation unit to the end tool;
a connecting portion extending in a first direction, having one end coupled to the end tool and the other end coupled to the operation portion, and coupling the operation portion and the end tool; including
The pitch operation unit is
a pitch-driven joint that is an articulating member that bends in one or more directions;
a pitch drive handle coupled with the pitch drive joint and configured to move with the pitch drive joint;
The pitch operation part is formed on an extension line of the connection part,
A surgical instrument according to claim 1, wherein the yaw operation part and the actuation operation part are separated from the pitch operation part based on the extension line of the connection part. In one or more motion states in which the operation portion is rotated about the second direction by a predetermined angle for pitch operation, at least a part of the operation portion is a virtual central axis of the pitch drive joint in the third direction. The surgical instrument of claim 1, formed closer to the end tool. At least a portion of the pitch drive handle is formed closer to the end tool than a virtual central axis of the pitch drive joint in the third direction in the third direction, at least in any one operating state of the pitch operation part. The surgical instrument of claim 1, wherein the surgical instrument is 2. The end tool bends in substantially the same direction as the operating direction of the operating portion when the operating portion is bent about the second direction or the third direction. A surgical instrument as described in . A direction in which the end tool is formed at the one end of the connecting portion and a direction in which the operation portion is formed at the other end of the connecting portion are substantially the same. 2. The surgical instrument according to 1. 2. The surgical instrument according to claim 1, wherein the operating part is formed so as to extend in a direction away from a user holding the surgical instrument. The end tool includes first and second jaws that are rotatably formed, respectively, and an end tool joint that bends in one or more directions to effect pitch and/or yaw motion of the first and second jaws. including a member and
2. The surgical instrument according to claim 1, wherein said operating section controls movements of said two jaws of said end tool. The power transmission unit is
a pitch wire coupled to the manipulator and transmitting pitch motion of the manipulator to the end tool;
a yaw wire coupled to the manipulator and transmitting yaw motion of the manipulator to the end tool;
an actuation wire coupled to the manipulator and transmitting actuation motion of the manipulator to the end tool;
8. The surgical instrument of claim 7, wherein the pitch wire, yaw wire and actuation wire are independently actuated. 9. The surgical instrument of claim 8, wherein reciprocating linear motion of said actuation wire provides actuation motion of said end tool. 9. The surgical instrument of claim 8, wherein reciprocating linear motion of said actuation wire rotates said first and second jaws coupled thereto. one end of each of both ends of the pitch wire is respectively coupled to the end tool and extended toward the operating section;
9. The surgical instrument of claim 8, wherein the actuation wire is formed between the pitch wires at the ends. one end of each of both ends of the yaw wire is respectively coupled to the end tool and extended toward the operating section;
9. The surgical instrument of claim 8, wherein the actuation wire is formed between the yaw wires at the ends. one end of each of both ends of the pitch wire is respectively coupled to the end tool and extended toward the operating section;
one end of each of both ends of the yaw wire is respectively coupled to the end tool and extended toward the operating section;
9. The surgical instrument according to claim 8, wherein a line connecting the pitch wires at both ends and a line connecting the yaw wires at both ends are perpendicular to each other. guide holes are formed in one end of the first jaw and one end of the second jaw, respectively;
An actuation guide pin is inserted through the guide holes of the first and second jaws,
the actuation wire is coupled to the actuation guide pin;
When the actuation wire performs a translational motion, the actuation guide pin connected thereto performs a translational motion along the guide hole, and the first and second jaws are actuated. 9. The surgical instrument of claim 8, characterized by: 8. The surgical instrument according to claim 7, wherein the first jaw and the second jaw rotate in directions opposite to each other when the actuation manipulator rotates about the actuation drive shaft. The end tool joint member is
connecting the end tool and the connecting portion;
A plurality of grooves are formed on the outer peripheral surface, the plurality of grooves are arranged along the first direction, and one or more ribs are provided in each of the grooves for guiding the bending direction of the end tool joint member. 8. The surgical instrument according to claim 7, wherein the instrument is a bent joint member in which a is formed. The actuation operation unit is
an actuation drive shaft;
a first actuation drive unit and a second actuation drive unit, each inserted into the actuation drive shaft so as to be rotatable about the actuation drive shaft, and each having a guide hole formed at one end thereof;
an actuation guide pin inserted through the guide holes of the first actuation drive part and the second actuation drive part;
the actuation wire is coupled to the actuation guide pin;
9. The surgical instrument of claim 8, wherein when the first actuation drive or the second actuation drive rotates, an actuation wire coupled thereto performs translational movement. The actuation operation unit is
an actuation drive shaft;
an actuation drive unit rotatable around the actuation drive shaft;
an actuation link connected to the actuation drive shaft and the actuation wire, respectively, and connecting the actuation wire connected thereto to perform translational movement when the actuation drive unit rotates. 9. A surgical instrument according to claim 8. The pitch driven joint is
A plurality of grooves are formed on the outer peripheral surface, the plurality of grooves are arranged along the first direction, and one or more ribs are provided in each of the grooves for guiding the bending direction of the pitch operation portion. 2. The surgical instrument of claim 1, including a formed articulation member. 2. The surgery according to claim 1, wherein when the pitch operation part bends around the pitch drive joint, the end tool bends in the same direction as the pitch operation part with respect to the pitch drive joint. for instruments. 2. The surgery according to claim 1, wherein when the pitch operation unit rotates about the pitch driving shaft, the end tool rotates in the same direction as the pitch operation unit with respect to the pitch driving shaft. for instruments. further comprising a roll operation part connected to the operation part;
When the roll operation portion is rotated, only the end tool rotates around the central axis while maintaining the relative angle between the central axis of the connecting portion and the central axis of the end tool. The surgical instrument of claim 1, wherein the surgical instrument rotates.