END TOOL OF SURGICAL INSTRUMENT, AND SURGICAL INSTRUMENT COMPRISING SAME

The present disclosure relates to an end tool of a surgical instrument and a surgical instrument including the same, and more particularly, to an end tool of a surgical instrument that may be mounted on a robotic arm or operable manually to be used in laparoscopic surgery or other various surgeries, wherein the end tool is rotatable in two or more directions and is moved in a way that intuitively matches a motion of a manipulation portion, and a surgical instrument including the same.

TECHNICAL FIELD

The present disclosure relates to an end tool of a surgical instrument and a surgical instrument including the same, and more particularly, to an end tool of a surgical instrument that may be mounted on a robotic arm or operable manually to be used in laparoscopic surgery or other various surgeries, wherein the end tool is rotatable in two or more directions and is moved in a way that intuitively matches a motion of a manipulation portion, and a surgical instrument including the same.

BACKGROUND ART

In recent years, laparoscopic surgery has been actively utilized to reduce postoperative recovery time and complications through small incisions. The laparoscopic surgery is a surgical method in which a plurality of small holes are drilled in the abdomen of a patient and the inside of the abdominal cavity is observed through these holes, and is widely used in general surgery and the like.

In performing the laparoscopic surgery, a suturing instrument inserted into the body is used to suture a surgical site in the abdominal cavity, and a surgical stapler for suturing the surgical site by using medical staples is used as the suturing instrument.

In general, a surgical stapler is a medical instrument that is often used for cutting and anastomosis of an organ in abdominal and thoracic surgery. The surgical stapler includes an open stapler used in thoracotomy and laparotomy and an endo stapler used in thoracoscopic surgery and celioscopic surgery.

The surgical stapler has advantages of not only shortening operation time because cutting of a surgical site and anastomosis of an organ are simultaneously performed, but also accurately stapling the surgical site. In addition, the surgical stapler has advantages of a faster recovery and a smaller scar than those when tissue is cut and stapled by using a surgical stapling thread, and thus has been widely used in modern surgical operations. In particular, the surgical stapler has been widely used in cancer surgery to cut cancer tissue and suture a cut site.

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

DESCRIPTION OF EMBODIMENTS

Technical Problem

The present disclosure is directed to providing a surgical instrument, which may be mounted on a robotic arm or operable manually to be used in laparoscopic surgery or other various surgeries and includes an end tool rotatable in two or more directions and moved in a way that intuitively matches a motion of a manipulation portion, and a surgical instrument including the same.

Solution to Problem

The present disclosure provides a surgical instrument including: an end tool including: a first jaw; a second jaw formed to face the first jaw; a first jaw pulley coupled to the first jaw and formed to be rotatable around a first shaft; a second jaw pulley coupled to the second jaw, formed to be rotatable around a shaft that is substantially the same as or parallel to the first shaft, and formed to be spaced apart from the first jaw pulley by a certain extent; and a staple drive assembly including a first staple pulley and a second staple pulley formed adjacent to the first jaw pulley or the second jaw pulley; and a cartridge including: a reciprocating assembly that is connected to the staple drive assembly, and is linearly moved when the first staple pulley and the second staple pulley is rotationally moved; and an operation member that is brought into contact with the reciprocating assembly, and is moved in one direction by the reciprocating assembly when the reciprocating assembly is moved in the one direction.

Advantageous Effects of Disclosure

According to the present disclosure, a manipulation direction of a manipulation portion by an operator and an operating direction of an end tool are intuitively identical to each other, so that the operator's convenience may be improved, and the accuracy, reliability and speed of surgery may be improved.

BEST MODE

One aspect of the present disclosure provides a surgical instrument comprising: an end tool comprising: a first jaw; a second jaw formed to face the first jaw; a first jaw pulley coupled to the first jaw and formed to be rotatable around a first shaft; a second jaw pulley coupled to the second jaw, formed to be rotatable around a shaft that is substantially the same as or parallel to the first shaft, and formed to be spaced apart from the first jaw pulley by a certain extent; and a staple drive assembly comprising a first staple pulley and a second staple pulley formed adjacent to the first jaw pulley or the second jaw pulley; and a cartridge comprising: a reciprocating assembly that is connected to the staple drive assembly, and is linearly moved when the first staple pulley and the second staple pulley is rotationally moved; and an operation member that is brought into contact with the reciprocating assembly, and is moved in one direction by the reciprocating assembly when the reciprocating assembly is moved in the one direction.

In the present disclosure, when the first staple pulley or the second staple pulley is rotated, the reciprocating assembly connected to the staple drive assembly is moved toward a distal end or a proximal end of the cartridge.

In the present disclosure, when the first staple pulley or the second staple pulley is rotated alternately in a clockwise direction and a counterclockwise direction, the reciprocating assembly connected to the staple drive assembly is moved alternately toward the distal end and the proximal end of the cartridge.

In the present disclosure, when the reciprocating assembly is moved toward the distal end of the cartridge, the operation member is moved toward the distal end of the cartridge by the reciprocating assembly.

In the present disclosure, a bidirectional rotational motion of the first staple pulley or the second staple pulley is converted, by the staple drive assembly, into a reciprocating linear motion of the reciprocating assembly connected to the staple drive assembly.

In the present disclosure, as the operation member is moved in the one direction, a wedge of the operation member sequentially pushes and raises a plurality of staples in the cartridge to perform a stapling motion, and simultaneously a blade formed on one side of the wedge of the operation member is moved in the one direction to perform a cutting motion.

In the present disclosure, the staple drive assembly further comprises a link member connecting the first staple pulley and the second staple pulley to the reciprocating assembly.

In the present disclosure, the operation member comprises a ratchet member having a ratchet formed on at least one surface thereof, and the ratchet of the ratchet member is formed to be able to be in contact with the reciprocating assembly.

In the present disclosure, the operation member is moved toward a distal end of the cartridge together with the reciprocating assembly only when the reciprocating assembly is moved toward the distal end of the cartridge.

In the present disclosure, when the first staple pulley is rotated in a first direction among a clockwise direction and a counterclockwise direction, and the second staple pulley is rotated in a direction opposite to the first direction among the clockwise direction and the counterclockwise direction, the link member connected to the first staple pulley and the second staple pulley, the reciprocating assembly connected to the link member, and the operation member in contact with the reciprocating assembly are moved toward a distal end of the cartridge.

In the present disclosure, when the first staple pulley is rotated in the direction opposite to the first direction among the clockwise direction and the counterclockwise direction, and the second staple pulley is rotated in the first direction among the clockwise direction and the counterclockwise direction, the link member connected to the staple pulleys, and the reciprocating assembly connected to the link member are moved toward a proximal end of the end tool, and the operation member remains stationary with respect to the one direction.

In the present disclosure, a first protruding member is formed in the first staple pulley, a second protruding member is formed in the second staple pulley, a first slot is formed on a surface of the link member facing the first staple pulley, and a second slot is formed on one surface of the link member facing the second staple pulley.

In the present disclosure, the first protruding member and the second protruding member are formed in a form of a cam, and the link member is moved, as the first protruding member presses the first slot of the link member while rotating, and the second protruding member presses the second slot of the link member while rotating.

In the present disclosure, a center of the first protruding member does not coincide with a center of the first staple pulley, the first protruding member is formed to be eccentric to a certain extent with respect to the first staple pulley, a center of the second protruding member does not coincide with a center of the second staple pulley, and the second protruding member is formed to be eccentric to a certain extent with respect to the second staple pulley.

In the present disclosure, when the first staple pulley and the second staple pulley are rotated in directions opposite to each other, the link member is moved in one direction, and when the first staple pulley and the second staple pulley are rotated in the same direction, the link member remains stationary with respect to the one direction.

In the present disclosure, the surgical instrument may further comprise a first staple wire coupled to the first staple pulley to rotate the first staple pulley; and a second staple wire coupled to the second staple pulley to rotate the second staple pulley.

In the present disclosure, the surgical instrument may further comprise a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley, and formed to be rotatable around a second shaft forming a predetermined angle with the first shaft; and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley, and formed to be rotatable around a shaft that is substantially the same as or parallel to the second shaft.

In the present disclosure, the end tool is formed to be yaw-rotatable around the first shaft and simultaneously pitch-rotatable around the second shaft.

In the present disclosure, the first jaw pulley, the first staple pulley, the second staple pulley, and the second jaw pulley are sequentially stacked.

In the present disclosure, the staple drive assembly is formed between the first jaw pulley and the second jaw pulley.

Another aspect of the present disclosure provides An end tool of a surgical instrument, the end tool comprising: a first jaw capable of accommodating a cartridge; a second jaw formed to face the first jaw; a first jaw pulley coupled to the first jaw and formed to be rotatable around a first shaft; a second jaw pulley coupled to the second jaw, formed to be rotatable around a shaft that is substantially the same as or parallel to the first shaft, and formed to be spaced apart from the first jaw pulley by a certain extent; a staple drive assembly comprising a first staple pulley and a second staple pulley formed adjacent to the first jaw pulley or the second jaw pulley; a first staple wire at least partially in contact with the first staple pulley and configured to transmit, to the first staple pulley, a driving force necessary for rotating the first staple pulley; and a second staple wire at least partially in contact with the second staple pulley and configured to transmit, to the second staple pulley, a driving force necessary for rotating the second staple pulley, wherein the staple drive assembly is connected to a reciprocating assembly of the cartridge and configured to convert a rotational motion of the staple pulley into a linear motion of the reciprocating assembly.

In the present disclosure, the end tool may further comprise an end tool hub comprising a first jaw pulley coupling portion, a second jaw pulley coupling portion, and a guide portion, wherein the first jaw pulley coupling portion and the second jaw pulley coupling portion are formed to face each other and the guide portion connects the first jaw pulley coupling portion and the second jaw pulley coupling portion to each other, wherein the first jaw pulley is arranged adjacent to the first jaw pulley coupling portion of the end tool hub, the second jaw pulley is arranged adjacent to the second jaw pulley coupling portion of the end tool hub, and at least a portion of the staple drive assembly is formed between the first jaw pulley and the second jaw pulley.

In the present disclosure, the first shaft is sequentially inserted through the first jaw pulley coupling portion, the first jaw pulley, the first staple pulley, the second staple pulley, the second jaw pulley, and the second jaw pulley coupling portion.

In the present disclosure, the first jaw pulley, the first staple pulley, the second staple pulley, the second jaw pulley are sequentially stacked inside the end tool hub.

In the present disclosure, the first jaw pulley, the first staple pulley, the second staple pulley, and the second jaw pulley are formed to be rotatable independently of each other.

In the present disclosure, the end tool may further comprise a first staple auxiliary pulley arranged between the first staple pulley and the guide portion.

In the present disclosure, the first staple wire is located on a common internal tangent of the first staple pulley and the first staple auxiliary pulley, and a rotation angle of the first staple pulley is increased by the first staple auxiliary pulley.

In the present disclosure, the staple drive assembly further comprises a staple link assembly connecting the first staple pulley and the second staple pulley to the reciprocating assembly.

In the present disclosure, the staple link assembly comprises a link member coupled to each of the first staple pulley, the second staple pulley, and the reciprocating assembly.

In the present disclosure, a first protruding member is formed in the first staple pulley, a second protruding member is formed in the second staple pulley, a first slot to which the first protruding member is coupled and a second slot to which the second protruding member is coupled are formed in the link member, when the first staple pulley is rotated, the first protruding member is moved in the first slot while in contact with the first slot, and when the second staple pulley is rotated, the second protruding member is moved in the second slot while in contact with the second slot.

In the present disclosure, the first slot and the second slot are formed symmetrically to each other on the link member, when the first staple pulley and the second staple pulley are rotated in directions opposite to each other, the link member is moved in one direction, and when the first staple pulley and the second staple pulley are rotated in the same direction, the link member remains stationary with respect to the one direction.

In the present disclosure, when the first staple pulley or the second staple pulley is rotated alternately in a clockwise direction and a counterclockwise direction, the staple link assembly connected to the first staple pulley or the second staple pulley is moved alternately toward a distal end and a proximal end of the end tool.

In the present disclosure, a bidirectional rotational motion of the first staple pulley or the second staple pulley is converted, by the staple link assembly, into a reciprocating linear motion of the reciprocating assembly connected to the staple link assembly.

In the present disclosure, a guide groove is formed on the first jaw in a length direction of the first jaw, and the staple link assembly is moved along the guide groove.

In the present disclosure, the end tool may further comprise a jaw rotation shaft inserted through the first jaw and the second jaw to be a center of rotation of the first jaw and the second jaw, wherein the first shaft is a jaw pulley rotation shaft, which is inserted through the first jaw pulley and the second jaw pulley to be a center of rotation of the first jaw pulley and the second jaw pulley, and when the first jaw pulley and the second jaw pulley are rotated around the jaw pulley rotation shaft, the jaw rotation shaft is moved relative to the jaw pulley rotation shaft.

In the present disclosure, when the first jaw and the second jaw are closed, the jaw rotation shaft is moved toward a distal end of the end tool, and when the first jaw and the second jaw are opened, the jaw rotation shaft is moved toward a proximal end of the end tool.

In the present disclosure, the end tool may further comprise a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley, and formed to be rotatable around a second shaft forming a predetermined angle with the first shaft; and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley, and formed to be rotatable around a shaft that is substantially the same as or parallel to the second shaft.

In the present disclosure, the end tool is formed to be yaw-rotatable around the first shaft and simultaneously pitch-rotatable around the second shaft.

In the present disclosure, the end tool may further comprise a first jaw wire of which at least a portion is wound around the first jaw pulley and the pair of end tool first jaw pitch main pulleys; and a second jaw wire of which at least a portion is wound around the second jaw pulley and the pair of end tool second jaw pitch main pulleys.

Another aspect of the present disclosure provides an end tool of a surgical instrument, the end tool comprising: a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley coupled to the first jaw and formed to be rotatable around a first shaft; a second jaw pulley coupled to the second jaw and formed to be rotatable around a shaft that is substantially the same as or parallel to the first shaft; a first staple pulley formed to be rotatable around a shaft that is substantially the same as or parallel to the first shaft, and arranged adjacent to the first jaw pulley; a second staple pulley formed to be rotatable around a shaft that is substantially the same as or parallel to the first shaft, and arranged adjacent to the second jaw pulley; and a staple link assembly connected to each of the first staple pulley and the second staple pulley and reciprocating according to bidirectional rotation of the first staple pulley or the second staple pulley.

In the present disclosure, the staple link assembly is coupled to a reciprocating assembly of a cartridge accommodated in the first jaw, and configured to reciprocate the reciprocating assembly.

In the present disclosure, the staple link assembly is moved toward a distal end or a proximal end of the end tool according to a rotation direction of the first staple pulley or the second staple pulley.

In the present disclosure, a first protruding member is formed in the first staple pulley, a second protruding member is formed in the second staple pulley, a first slot is formed on a surface of the staple link assembly facing the first staple pulley, and a second slot is formed on a surface of the staple link assembly facing the second staple pulley.

In the present disclosure, when the first staple pulley is rotated, the first protruding member is moved in the first slot while in contact with the first slot, and when the second staple pulley is rotated, the second protruding member is moved in the second slot while in contact with the second slot.

In the present disclosure, the staple link assembly comprises a single link.

In the present disclosure, the first protruding member and the second protruding member are formed in a form of a cam, and the staple link assembly is moved, as the first protruding member presses the first slot of the staple link assembly while rotating, and the second protruding member presses the second slot of the staple link assembly while rotating.

In the present disclosure, a center of the first protruding member does not coincide with a center of the first staple pulley, the first protruding member is formed to be eccentric to a certain extent with respect to the first staple pulley, a center of the second protruding member does not coincide with a center of the second staple pulley, and the second protruding member is formed to be eccentric to a certain extent with respect to the second staple pulley.

In the present disclosure, the first slot and the second slot are formed to be vertically symmetrical with each other on the staple link assembly.

In the present disclosure, when the first staple pulley and the second staple pulley are rotated in directions opposite to each other, the staple link assembly is moved in one direction, and when the first staple pulley and the second staple pulley are rotated in the same direction, the staple link assembly remains stationary with respect to the one direction.

In the present disclosure, a guide groove is formed on the first jaw in a length direction of the first jaw, and the staple link assembly is moved along the guide groove.

In the present disclosure, the end tool may further comprise a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley, and formed to be rotatable around a second shaft forming a predetermined angle with the first shaft; and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley, and formed to be rotatable around a shaft that is substantially the same as or parallel to the second shaft.

In the present disclosure, when the first jaw pulley and the second jaw pulley are rotated in the same direction around the second shaft, the first staple pulley and the second staple pulley are rotated together with the first jaw pulley and the second jaw pulley.

In the present disclosure, when the first jaw pulley and the second jaw pulley are rotated in the same direction around the first shaft, the first staple pulley and the second staple pulley are rotated together with the first jaw pulley and the second jaw pulley.

In the present disclosure, when the first jaw pulley and the second jaw pulley are rotated in directions opposite to each other around the first shaft, the first staple pulley and the second staple pulley are rotated together with any one of the first jaw pulley or the second jaw pulley.

In the present disclosure, there is a case in which the first jaw pulley and the second jaw pulley are not rotated while the first staple pulley and the second staple pulley are rotated around the first shaft by a staple wire.

In the present disclosure, a cartridge accommodation portion in which a cartridge is able to be accommodated is formed in the first jaw, and an anvil with which a staple of the cartridge is able to be in contact is formed in the second jaw.

In the present disclosure, the end tool may further comprise a first jaw wire of which at least a portion is wound around the first jaw pulley; a second jaw wire of which at least a portion is wound around the second jaw pulley; a first staple wire of which at least a portion is wound around the first staple pulley; and a second staple wire of which at least a portion is wound around the second staple pulley.

Another aspect of the present disclosure provides an end tool of a surgical instrument, the end tool comprising: a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley coupled to the first jaw and formed to be rotatable around a first shaft; a first jaw wire of which at least a portion is wound around the first jaw pulley; a second jaw pulley coupled to the second jaw and formed to be rotatable around the first shaft; a second jaw wire of which at least a portion is wound around the second jaw pulley; a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley, and formed to be rotatable around a second shaft forming a predetermined angle with the first shaft; a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley, and formed to be rotatable around a shaft that is substantially the same as or parallel to the second shaft; a first staple pulley and a second staple pulley formed to be rotatable around the first shaft and arranged between the first jaw pulley and the second jaw pulley; a staple link assembly connected to the first staple pulley and the second staple pulley and reciprocating according to bidirectional rotation of the first staple pulley or the second staple pulley; a first staple wire at least partially in contact with the first staple pulley and configured to transmit, to the first staple pulley, a driving force necessary for rotating the first staple pulley; and a second staple wire at least partially in contact with the second staple pulley and configured to transmit, to the second staple pulley, a driving force necessary for rotating the second staple pulley.

In the present disclosure, a bidirectional rotational motion of the first staple pulley or the second staple pulley is converted into a reciprocating linear motion of the staple link assembly.

In the present disclosure, the staple link assembly is coupled to a reciprocating assembly of a cartridge accommodated in the first jaw, and a rotational motion of the first staple pulley or the second staple pulley is transmitted to an operation member of the cartridge via the staple link assembly and the reciprocating assembly.

In the present disclosure, a bidirectional rotational motion of the first staple pulley or the second staple pulley is converted, by the staple link assembly, into a reciprocating linear motion of the reciprocating assembly connected to the staple link assembly.

In the present disclosure, the end tool may further comprise a jaw rotation shaft inserted through the first jaw and the second jaw to be a center of rotation of the first jaw and the second jaw, wherein the first shaft is a jaw pulley rotation shaft, which is inserted through the first jaw pulley and the second jaw pulley to be a center of rotation of the first jaw pulley and the second jaw pulley, and when the first jaw pulley and the second jaw pulley are rotated around the jaw pulley rotation shaft, the jaw rotation shaft is moved relative to the jaw pulley rotation shaft.

In the present disclosure, when the first jaw and the second jaw are closed, the jaw rotation shaft is moved toward a distal end of the end tool, and when the first jaw and the second jaw are opened, the jaw rotation shaft is moved toward a proximal end of the end tool.

In the present disclosure, a movable-coupling hole is formed in the first jaw or the second jaw, a shaft coupling portion is formed in the first jaw pulley or the second jaw pulley, and the shaft coupling portion is formed to be movable to a certain extent in the movable-coupling hole in a state in which the shaft coupling portion is fitted into the movable-coupling hole.

In the present disclosure, when the first staple pulley or the second staple pulley is rotated alternately in a clockwise direction and a counterclockwise direction, the staple link assembly connected to the first staple pulley or the second staple pulley is moved alternately toward a distal end and a proximal end of the end tool.

In the present disclosure, a guide groove is formed on the first jaw in a length direction of the first jaw, and the staple link assembly is moved along the guide groove.

In the present disclosure, the staple link assembly comprises a link member coupled to each of the first staple pulley and the second staple pulley.

In the present disclosure, a first protruding member is formed in the first staple pulley, a second protruding member is formed in the second staple pulley, a first slot is formed on a surface of the link member facing the first staple pulley, and a second slot is formed on one surface of the link member facing the second staple pulley.

In the present disclosure, the first protruding member and the second protruding member are formed in a form of a cam, and the link member is moved, as the first protruding member presses the first slot of the link member while rotating, and the second protruding member presses the second slot of the link member while rotating.

In the present disclosure, a center of the first protruding member does not coincide with a center of the first staple pulley, the first protruding member is formed to be eccentric to a certain extent with respect to the first staple pulley, a center of the second protruding member does not coincide with a center of the second staple pulley, and the second protruding member is formed to be eccentric to a certain extent with respect to the second staple pulley.

In the present disclosure, each of a thickness of the first slot and a thickness of the second slot is less than a thickness of the link member.

In the present disclosure, a sum of a thickness of the first slot and a thickness of the second slot is substantially equal to a thickness of the link member.

In the present disclosure, when the first staple pulley is rotated, the first protruding member is moved in the first slot while in contact with the first slot, and when the second staple pulley is rotated, the second protruding member is moved in the second slot while in contact with the second slot.

In the present disclosure, the first slot and the second slot are formed symmetrically to each other on the link member, when the first staple pulley and the second staple pulley are rotated in directions opposite to each other, the link member is moved in one direction, and when the first staple pulley and the second staple pulley are rotated in the same direction, the link member remains stationary with respect to the one direction.

In the present disclosure, the protruding member is formed in the form of a pin, and the link member is moved as the protruding member presses the slot of the link while rotating.

In the present disclosure, the slot is formed obliquely without being concentric with the staple pulley, and the pin is moved along the slot.

In the present disclosure, the link member is formed as a single member.

In the present disclosure, the end tool may further comprise a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley, and formed to be rotatable around a second shaft forming a predetermined angle with the first shaft; and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley, and formed to be rotatable around a shaft that is substantially the same as or parallel to the second shaft.

In the present disclosure, the end tool is formed to be yaw-rotatable around the first shaft and simultaneously pitch-rotatable around the second shaft.

In the present disclosure, the end tool may further comprise a first jaw wire of which at least a portion is wound around the first jaw pulley and the pair of end tool first jaw pitch main pulleys; and a second jaw wire of which at least a portion is wound around the second jaw pulley and the pair of end tool second jaw pitch main pulleys.

In the present disclosure, a pair of first staple pitch main pulleys formed on one side of the first staple pulley and formed to be rotatable around the second shaft forming the predetermined angle with the first shaft; and a pair of second staple pitch main pulleys formed on one side of the second staple pulley, and formed to be rotatable around a shaft that is substantially the same as or parallel to the second shaft.

In the present disclosure, the end tool may further comprise a staple wire separation prevention pulley arranged between the first staple pulley and the first staple pitch main pulley or between the second staple pulley and the second staple pitch main pulley, formed to be rotatable around a shaft that is substantially the same as or parallel to the second shaft, and configured to guide a path of the first staple wire or the second staple wire.

Another aspect of the present disclosure provides a method of driving a surgical instrument, the method comprising operations: (a) in which, when a first staple pulley of a staple drive assembly is rotated in a first direction around a first shaft and a second staple pulley is rotated in a second direction opposite to the first direction around the first shaft, a staple link assembly connected to the first staple pulley and the second staple pulley, and a reciprocating assembly of a cartridge connected to the staple link assembly are moved along a second shaft toward a distal end of the cartridge; (b) in which, when the reciprocating assembly is moved toward the distal end of the cartridge, an operation member in contact with the reciprocating assembly is moved toward the distal end of the cartridge together with the reciprocating assembly; (c) in which, as the operation member is moved toward the distal end of the cartridge, the operation member ejects staples in the cartridge to the outside of the cartridge, and simultaneously, a blade of the operation member is moved toward the distal end of the cartridge; and (d) in which, when the first staple pulley is rotated in the second direction around the first shaft and the second staple pulley is rotated in the first direction around the first shaft, the staple link assembly connected to the first staple pulley and the second staple pulley, and the reciprocating assembly of the cartridge connected to the staple link assembly are moved toward a proximal end of the cartridge.

In the present disclosure, when the first staple pulley or the second staple pulley is rotated in the first direction or the second direction, the reciprocating assembly is moved toward the distal end of the cartridge or toward the proximal end of the cartridge.

In the present disclosure, a bidirectional rotational motion of the first staple pulley or the second staple pulley around the first shaft is converted into a reciprocating linear motion of the reciprocating assembly connected to the first staple pulley and the second staple pulley along the second shaft.

In the present disclosure, the operation member is moved toward the distal end of the cartridge by the reciprocating linear motion of the reciprocating assembly.

In the present disclosure, a rack is formed on one surface of the reciprocating assembly, the operation member comprises a ratchet member having a ratchet formed thereon, and as the rack pushes the ratchet member while being in close contact with the ratchet member, the ratchet member is moved toward the distal end of the cartridge.

In the present disclosure, in operation (d), the operation member remains stationary with respect to a direction of the second shaft.

In the present disclosure, the operation member is moved toward the distal end of the cartridge together with the reciprocating assembly only when the reciprocating assembly is moved toward the distal end of the cartridge.

In the present disclosure, the end tool may further comprise a first staple wire coupled to the first staple pulley to rotate the first staple pulley, and a second staple wire coupled to the second staple pulley to rotate the second staple pulley, wherein bidirectional rotation of the first staple pulley or the first staple pulley by the first staple wire or the second staple wire is converted into a reciprocating linear motion of the reciprocating assembly.

In the present disclosure, as the operation member is moved toward the distal end of the cartridge, a wedge of the operation member sequentially pushes and raises a plurality of staples in the cartridge to perform a stapling motion, and simultaneously, the blade formed on one side of the wedge of the operation member is moved toward the distal end of the cartridge to perform a cutting motion.

In the present disclosure, operations (a) to (d) are repeatedly performed.

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

MODE OF DISCLOSURE

While the present disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. However, it should be understood that there is no intent to limit the present disclosure to the particular forms disclosed herein, rather, the present disclosure should be construed to cover various modifications, equivalents, and alternatives of embodiments of the present disclosure. In describing the present disclosure, detailed description of known related arts will be omitted when it is determined that the gist of the present disclosure may be unnecessarily obscured

Although terms such as “first,” “second,” and the like may be used to describe various components, such components should not be limited to the above terms The terms are only used to distinguish one component from another.

The terms used herein are for the purpose of describing particular embodiments only and are not intended to be limiting to the present disclosure. Singular forms are intended to include plural forms as well, unless the context clearly indicates otherwise. In the present application, it will be further understood that the terms “comprise,” “comprising,” “include,” and/or “including”, when used in this specification, specify the presence of stated features, integers, steps, operations, elements, components and/or groups thereof but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof.

Hereinafter, the embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings, and when the embodiments of the present disclosure are described with reference to the drawings, the same or corresponding components are given the same reference numerals, and repetitive descriptions thereof will be omitted.

Further, in describing the various embodiments of the present disclosure, it is to be understood that each embodiment is not intended to be interpreted or implemented independently, and that the technical ideas described in each embodiment may be interpreted or implemented in combination with other embodiments described separately.

In a surgical instrument according to the present disclosure, when a manipulation part is rotated in one direction for at least any one of pitch, yaw, and actuation motions, an end tool is rotated in intuitively the same direction as a direction in which the manipulation part is moved.

FIG.1Ais a conceptual diagram of a pitch motion of a conventional surgical instrument, andFIG.1Bis a conceptual diagram of a yaw motion thereof.

Referring toFIG.1A, in performing a pitch motion of a conventional surgical instrument, in a state in which an end tool120ais formed in front of a rotation center121aof the end tool, and a manipulation part110ais formed at the rear of a rotation center111aof the manipulation part, when the manipulation part110ais rotated in a clockwise direction, the end tool120ais also rotated in the clockwise direction, and when the manipulation part120ais rotated in a counterclockwise direction, the end tool120ais also rotated in the counterclockwise direction. Referring toFIG.1B, in performing a yaw motion of the conventional surgical instrument, in a state in which the end tool120ais formed in front of the rotation center121aof the end tool, and the manipulation part110ais formed at the rear of the rotation center111aof the manipulation part, when the manipulation part110ais rotated in the clockwise direction, the end tool120ais also rotated in the clockwise direction, and when the manipulation part120ais rotated in the counterclockwise direction, the end tool120ais also rotated in the counterclockwise direction. In this case, in view of left and right directions of a user, when the user moves the manipulation part110ato the left, the end tool120ais moved to the right, and when the user moves the manipulation part110ato the right, the end tool120ais moved to the left. As a result, a manipulation direction of the user and an operation direction of the end tool are opposite to each other, which may cause the user to make a mistake, and user's manipulation may not be easy.

FIG.1Cis a conceptual diagram of a pitch motion of another conventional surgical instrument, andFIG.1Dis a conceptual diagram of a yaw motion thereof.

Referring toFIG.1C, in the conventional surgical instrument, which is partially formed in a mirror symmetrical shape, in performing a pitch motion, in a state in which an end tool120bis formed in front of a rotation center121bof the end tool, and a manipulation part110bis formed at the rear of a rotation center111bof the manipulation part, when the manipulation part110bis rotated in the clockwise direction, the end tool120bis rotated in the counterclockwise direction, and when the manipulation part110bis rotated in the counterclockwise direction, the end tool120bis rotated in the clockwise direction. In this case, in view of rotation directions of the manipulation part and the end tool, a rotation direction in which the user rotates the manipulation part110band a rotation direction of the end tool120baccording thereto are opposite to each other. As a result, the user may be confused with the manipulation direction, and as the operation of a joint is not intuitive, the user may make an error. Further, referring toFIG.1D, in performing a yaw motion, in a state in which the end tool120bis formed in front of the rotation center121bof the end tool, and the manipulation part110bis formed at the rear of the rotation center111bof the manipulation part, when the manipulation part110bis rotated in the clockwise direction, the end tool120bis rotated in the counterclockwise direction, and when the manipulation part110bis rotated in the counterclockwise direction, the end tool120bis rotated in the clockwise direction. In this case, in view of rotation directions of the manipulation part and the end tool, a rotation direction in which the user rotates the manipulation part110band a rotation direction of the end tool120baccording thereto are opposite to each other. As a result, the user may be confused with the manipulation direction, and as the operation of the joint is not intuitive, the user may make an error. In the user's pitch or yaw manipulation of the conventional surgical instrument, the user's manipulation direction and the end tool's operation direction do not match each other in view of one of the rotation direction and the left and right directions. This is because the configurations of the end tool and the manipulation part are different from each other in the joint configuration of the conventional surgical instrument. That is, this is because the manipulation part is formed at the rear of the rotation center of the manipulation part, while the end tool is formed in front of the rotation center of the end tool. In order to address the above problems, in a surgical instrument according to an embodiment of the present disclosure, which is illustrated inFIGS.1E and1F, an end tool120cis formed in front of a rotation center121cof the end tool and a manipulation part110cis also formed in front of a rotation center111cof the manipulation part, so that the operations of the manipulation part110cand the end tool120care intuitively matched with each other. In other words, unlike existing examples such as those shown inFIGS.1A,1B,1C, and1D, in which the manipulation part is close to a user with respect to the joint thereof (that is, away from the end tool), the surgical instrument according to an embodiment of the present disclosure, which is illustrated inFIGS.1E and1F, is formed such that at least a portion of the manipulation part is closer (than a joint thereof) to the end tool with respect to the joint thereof at any one moment or more in a manipulation process.

In other words, in the conventional surgical instrument as illustrated inFIGS.1A,1B,1C, and1D, the manipulation part is formed at the rear of the rotation center thereof, while the end tool is located in front of the rotation center thereof, and thus the end tool is moved at a front side thereof with a rear side fixed through a motion of the manipulation part that is moved at a rear side thereof with a front side thereof fixed, which is not an intuitively matching structure. Accordingly, a mismatch may occur between the manipulation of the manipulation part and the motion of the end tool in view of the left and right directions or in view of the rotation direction, which may cause confusion to the user, and the manipulation of the manipulation part may be difficult to perform intuitively and quickly and may cause mistakes. In contrast, in the surgical instrument according to an embodiment of the present disclosure, since both the end tool and the manipulation part are moved with respect to the rotation center formed at the rear side thereof, it may be said that the motions are intuitively matched with each other in terms of structure. In other words, moving portions of the manipulation part are moved with respect to the rotation center formed at the rear side thereof just as moving portions of the end tool are moved with respect to the rotation center formed at the rear side thereof, and thus it may be said that the motions are intuitively matched with each other in terms of structure. This allows the user to intuitively and quickly perform a control in a direction toward the end tool, and a possibility of making a mistake may be significantly reduced. Hereinafter, a detailed mechanism enabling the above-described function will be described below.

First Embodiment of Surgical Instrument

FIG.2is a perspective view illustrating a surgical instrument according to a first embodiment of the present disclosure.FIG.3is a side view of the surgical instrument ofFIG.2.FIGS.4and5are perspective views illustrating an end tool of the surgical instrument ofFIG.2.FIG.6is a perspective view illustrating an end tool hub of the end tool of the surgical instrument ofFIG.2.FIGS.7and8are plan views illustrating the end tool of the surgical instrument ofFIG.2.FIG.9is a side view illustrating the end tool of the surgical instrument ofFIG.2.FIGS.10and11are exploded perspective views of the end tool of the surgical instrument ofFIG.2.FIG.12is a perspective view illustrating a first jaw pulley of the surgical instrument ofFIG.2.FIG.13is a plan view illustrating a first jaw of the surgical instrument ofFIG.2.FIG.14is a plan view illustrating a second jaw of the surgical instrument ofFIG.2.FIGS.15and16are exploded perspective views illustrating a staple pulley and a staple link of the surgical instrument ofFIG.2.FIGS.17and18are side views illustrating operating states of a staple pulley in the end tool of the surgical instrument ofFIG.2.FIGS.19and20are perspective views illustrating operating states of the staple pulley in the end tool of the surgical instrument ofFIG.2.FIGS.21,22,23, and24are plan views illustrating opening and closing motions of the first jaw and the second jaw of the surgical instrument ofFIG.2.FIGS.25and26are perspective views illustrating opening and closing motions of the end tool of the surgical instrument ofFIG.2.

First, referring toFIGS.2and3, a surgical instrument2000according to a first embodiment of the present disclosure includes an end tool2100, a manipulation part200, a power transmission part300, and a connection part400.

Here, the connection part400is formed in the shape of a hollow shaft, and one or more wires and electric wires may be accommodated therein. The manipulation part200is coupled to one end portion of the connection part400, the end tool2100is coupled to the other end portion thereof, and the connection part400may serve to connect the manipulation part200and the end tool2100. Here, the connection part400of the surgical instrument2000according to the first embodiment of the present disclosure includes a straight part401and a bent part402, wherein the straight part401is formed at a side coupled to the end tool2100, and the bent part402is formed at a side to which the manipulation part200is coupled. As such, since the end portion of the connection part400at the side of the manipulation part200is formed to be bent, a pitch manipulation part201, a yaw manipulation part202, and an actuation manipulation part203may be formed along an extension line of the end tool2100or adjacent to the extension line. From another perspective, it may be said that the pitch manipulation part201and the yaw manipulation part202are at least partially accommodated in a concave portion formed by the bent part402. Due to the above-described shape of the bent part402, the shapes and motions of the manipulation part200and the end tool2100may be further intuitively matched with each other.

Meanwhile, a plane on which the bent part402is formed may be substantially the same plane as a pitch plane, that is, an XZ plane ofFIG.2. As such, as the bent part402is formed on substantially the same plane as the XZ plane, interference with the manipulation part may be reduced. Of course, for intuitive motions of the end tool and the manipulation part, any form other than the XZ plane may be possible.

Meanwhile, a connector410may be formed on the bent part402. The connector410may be connected to an external power source (not shown), and the connector410may also be connected to the end tool2100via an electric wire, and may transmit, to the end tool2100, electric energy supplied from the external power source (not shown). In addition, the electric energy transmitted to the end tool2100as described above may produce a driving force for rotating a staple pulley (see161ofFIG.5) to be described later in the clockwise or counterclockwise direction.

The manipulation part200is formed at the one end portion of the connection part400and provided as an interface to be directly controlled by a medical doctor, for example, a tongs shape, a stick shape, a lever shape, or the like, and when the medical doctor controls the manipulation part200, the end tool2100, which is connected to the interface and inserted into the body of a surgical patient, performs a certain motion, thereby performing surgery. Here, the manipulation part200is illustrated inFIG.2as being formed in a handle shape that is rotatable while the finger is inserted therein, the concept of the present disclosure is not limited thereto, and various types of manipulation parts that are connected to the end tool2100and manipulate the end tool2100may be possible.

The end tool2100is formed on the other end portion of the connection part400, and performs necessary motions for surgery by being inserted into a surgical site. In an example of the end tool2100, as illustrated inFIG.2, a pair of jaws103for performing a grip motion may be used. However, the concept of the present disclosure is not limited thereto, and various devices for performing surgery may be used as the end tool2100. For example, a configuration of a cantilever cautery may also be used as the end tool. The end tool2100is connected to the manipulation part200by the power transmission part300, and receives a driving force of the manipulation part200through the power transmission part300to perform a motion necessary for surgery, such as gripping, cutting, suturing, or the like.

Here, the end tool2100of the surgical instrument2000according to the first embodiment of the present disclosure is formed to be rotatable in at least one direction, for example, the end tool2100may perform a pitch motion around a Y-axis ofFIG.2and simultaneously perform a yaw motion and an actuation motion around a Z-axis ofFIG.2.

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

First, the pitch motion means a motion of the end tool2100rotating in a vertical direction with respect to an extension direction of the connection part400(an X-axis direction ofFIG.2), that is, a motion rotating around the Y-axis ofFIG.2. In other words, the pitch motion means a motion of the end tool2100, which is formed to extend from the connection part400in the extension direction of the connection part400(the X-axis direction ofFIG.2), rotating vertically around the Y-axis with respect to the connection part400.

Next, the yaw motion means a motion of the end tool2100rotating in the left and right directions, that is, a motion rotating around the Z-axis ofFIG.2, with respect to the extension direction of the connection part400(the X-axis direction ofFIG.2). In other words, the yaw motion means a motion of the end tool2100, which extends from the connection part400in the extension direction of the connection part400(the X-axis direction ofFIG.2), rotating horizontally around the Z-axis with respect to the connection part400. That is, the yaw motion means a motion of the two jaws103, which are formed on the end tool2100, rotating around the Z-axis in the same direction.

Meanwhile, the actuation motion may mean a motion of the end tool2100rotating around the same shaft of rotation as that of the yaw motion, while the two jaws103rotating in the opposite directions so as to be closed or opened. That is, the actuation motion means rotating motions of the two jaws103, which are formed on the end tool2100, in the opposite directions around the Z-axis.

The power transmission part300may connect the manipulation part200to the end tool2100, transmit the driving force of the manipulation part200to the end tool2100, and include a plurality of wires, pulleys, links, sections, gears, or the like.

The end tool2100, the manipulation part200, and the power transmission part300of the surgical instrument2000ofFIG.2will be described in detail later.

Hereinafter, intuitive driving of the surgical instrument2000of the present disclosure will be described.

First, while holding a first handle204with the palm of the hand, the user may rotate a first handle204around the Y-axis (i.e., a rotation shaft246ofFIG.25) to perform a pitch motion, and rotate the first handle204around the Z-axis (i.e., a rotation shaft243ofFIG.43) to perform a yaw motion. In addition, the user may perform an actuation motion by manipulating the actuation manipulation part203while inserting the thumb and the index finger into a first actuation extension part252and/or a second actuation extension part257in the form of a hand ring formed at one end portion of the actuation manipulation part203.

Here, in the surgical instrument2000according to the first embodiment of the present disclosure, when the manipulation part200is rotated in one direction with respect to the connection part400, the end tool2100is rotated in a direction that is intuitively the same as a manipulation direction of the manipulation part200. In other words, when the first handle204of the manipulation part200is rotated in one direction, the end tool2100is also rotated in a direction intuitively the same as the one direction, so that a pitch motion or a yaw motion is performed. Here, the phrase “intuitively the same direction” may be further explained as meaning that a direction of movement of the user's finger gripping the manipulation part200and a direction of movement of a distal end of the end tool2100form substantially the same direction. Of course, “the same direction” as used herein may not be a perfectly matching direction on a three-dimensional coordinate, and may be understood to be equivalent to the extent that, for example, when the user's finger moves to the left, the distal end of the end tool2100is moved to the left, and when the user's finger moves down, the end portion of the end tool2100is moved down.

In addition, to this end, in the surgical instrument2000according to the first embodiment of the present disclosure, the manipulation part200and the end tool2100are formed in the same direction with respect to a plane perpendicular to the extension axis (X-axis) of the connection part400. That is, when viewed based on a YZ plane ofFIG.2, the manipulation part200is formed to extend in a positive (+) X-axis direction, and the end tool2100is also formed to extend in the positive (+) X-axis direction. In other words, it may be said that a formation direction of the end tool2100on one end portion of the connection part400is the same as a formation direction of the manipulation part200on the other end portion of the connection part400on the basis of the YZ plane. Further, in other words, it may be said that the manipulation part200may be formed in a direction away from the body of a user holding the manipulation part200, that is, in a direction in which the end tool2100is formed. That is, in the parts such as the first handle204, a first actuation manipulation part251, a second actuation manipulation part256, and the like, which are moved by the user's grip for actuation motion, yaw motion, and pitch motions, a corresponding portion that is moved for the motion is formed to extend in the positive (+) X-axis direction from the rotation center of a corresponding joint for the motion. In this manner, the manipulation part200may be configured in the same manner as the end tool2100in which each moving portion is formed to extend in the positive (+) X-axis direction from the rotation center of a corresponding joint for the motion, and as described with reference toFIG.1, the manipulation direction of the user may be identical to the operation direction of the end tool from the viewpoint of the rotation directions and the left and right directions. As a result, intuitively the same manipulation may be achieved.

In detail, in the case of the conventional surgical instrument, a direction in which a user manipulates the manipulation part is different from a direction in which the end tool is actually operated, that is, intuitively different from the direction in which the end tool is actually operated, and thus, a surgical operator may not easily intuitively manipulate the surgical instrument and may spend a long time to learn a skill of operating the end tool in desired directions, and in some cases, malfunctions may occur, which may cause damage to patients.

In order to address such problems, the surgical instrument2000according to the first embodiment of the present disclosure is configured such that the manipulation direction of the manipulation part200and the operation direction of the end tool2100are intuitively identical to each other. To this end, the manipulation part200is configured like the end tool2100, that is, in the manipulation part200, portions that are actually moved for actuation, yaw, and pitch motions extend respectively from rotation centers of corresponding joints in the positive (+) X-axis direction.

Hereinafter, the end tool2100, the manipulation part200, the power transmission part300, and the like of the surgical instrument2000ofFIG.2will be described in more detail.

Hereinafter, the power transmission part300of the surgical instrument2000ofFIG.2will be described in more detail.

Referring toFIGS.2to20,49, and the like, the power transmission part300of the surgical instrument2000according to an embodiment of the present disclosure may include a wire301, a wire302, a wire303, a wire304, a wire305, a wire306, a wire307, a wire308, a wire309, and a wire310.

Here, the wire301and the wire305may form a pair to serve as a first jaw wire. The wire302and the wire306may form a pair to serve as a second jaw wire. Here, a component encompassing the wire301and the wire305, which are the first jaw wire, and the wire302and the wire306, which are the second jaw wire, may be referred to as a jaw wire. The wire303and the wire304may form a pair to serve as a pitch wire. In addition, the wire307and the wire308may form a pair to serve as a staple wire.

In addition, the power transmission part300of the surgical instrument2000according to an embodiment of the present disclosure may include a fastening member321a fastening member323, a fastening member324, a fastening member326, a fastening member327, a fastening member329, and a fastening member330that are coupled to respective ends of the wires to respectively combine the wires with the pulleys. Here, each of the fastening members may have various shapes as necessary, such as a ball shape, a tube shape, and the like.

Here, on the side of the end tool2100, the fastening member321may serve as a pitch wire-end tool fastening member, the fastening member323may serve as a first jaw wire-end tool fastening member, the fastening member326may serve as a second jaw wire-end tool fastening member, and the fastening member329may serve as a staple wire-end tool fastening member.

In addition, on the side of the manipulation portion200, the fastening member324may serve as a first jaw wire-manipulation portion fastening member, and the fastening member327may serve as a second jaw wire-manipulation portion fastening member. In addition, although not illustrated in the drawings, a pitch wire-manipulation portion fastening member and a staple wire-manipulation portion fastening member may be further formed on the side of the manipulation portion200.

The coupling relationship between the wires, the fastening members, and each pulley will be described as follows.

First, the wire301and the wire305, which are the first jaw wire, may be a single wire. The fastening member323, which is the first jaw wire-end tool fastening member, may be fit into a middle point of the first jaw wire and when the fastening member323is fixed through crimping, two strands of the first jaw wire on either side of the fastening member323may be referred to as the wire301and the wire305, respectively.

Alternatively, the wire301and the wire305, which are the first jaw wire, may be formed as separate wires, and the wire301and the wire305may be connected to each other by the fastening member323.

In addition, as the fastening member323is coupled to a pulley2111, the wire301and the wire305may be fixedly coupled to the pulley2111. This allows the pulley2111to rotate as the wire301and the wire305are pulled and unwound.

In the wire301and the wire305, the first jaw wire-manipulation portion fastening member (see324ofFIG.49) may be coupled to an end opposite to the end to which the fastening member323is coupled.

In addition, as the first jaw wire-manipulation portion fastening member (see324of FIG.49) is coupled to a pulley210, the wire301and the wire305may be fixedly coupled to the pulley210. As a result, when the pulley210is rotated by a motor or human force, the pulley2111of the end tool2100may rotate as the wire301and the wire305are pulled and unwound.

In the same manner, the wire302and the wire306, which are the second jaw wire, are coupled to the fastening member (see326ofFIG.49), which is the second jaw wire-end tool, and the second jaw wire-manipulation portion fastening member (see327ofFIG.49), respectively. In addition, the fastening member (see326ofFIG.49) is coupled to a pulley2121, and the second jaw wire-manipulation portion fastening member (see327ofFIG.49) is coupled to a pulley220. As a result, when the pulley220is rotated by a motor or human force, the pulley2121of the end tool2100may rotate as the wire302and the wire306are pulled and unwound.

In the same manner, the wire303and the wire304, which are the pitch wire, are coupled to the fastening member321, which is the pitch wire-end tool fastening member, and the pitch wire-manipulation portion fastening member (not shown), respectively. In addition, the fastening member321is coupled to a pulley2131, and the pitch wire-manipulation portion fastening member (not shown) is coupled to a pulley231. As a result, when the pulley231is rotated by a motor or a human force, the pulley2131of the end tool2100may be rotated as the wire303and the wire304are pulled and unwound.

In the same manner, the wire307and the wire308, which are first staple wires, are coupled to the fastening member (see329ofFIG.68), which is the staple wire-end tool fastening member, and the staple wire-manipulation portion fastening member (not shown), respectively. In addition, the fastening member (see329ofFIG.68) is coupled to a first staple pulley2181, and the staple wire-manipulation portion fastening member (not shown) is coupled to a pulley (see269ofFIG.47). As a result, when the pulley269is rotated by a motor or a human force, the first staple pulley2181of the end tool2100may be rotated as the wire307and the wire308are pulled and unwound.

In the same manner, the wire309and the wire310, which are second staple wires, are coupled to the fastening member (see330ofFIG.68), which is the staple wire-end tool fastening member, and the staple wire-manipulation portion fastening member (not shown), respectively. In addition, the fastening member (see330ofFIG.68) is coupled to a second staple pulley2191, and the staple wire-manipulation portion fastening member (not shown) is coupled to a pulley (see270ofFIG.53). As a result, when the pulley270is rotated by a motor or a human force, the second staple pulley2191of the end tool2100may be rotated as the wire309and the wire310are pulled and unwound.

Hereinafter, the end tool2100of the surgical instrument2000ofFIG.2will be described in more detail.

FIGS.4and5are perspective views illustrating the end tool of the surgical instrument ofFIG.2,FIG.6is a perspective view illustrating an end tool hub of the end tool of the surgical instrument ofFIG.2, andFIGS.7and8are plan views illustrating the end tool of the surgical instrument ofFIG.2.

Here,FIG.4illustrates a state in which an end tool hub2106and a pitch hub2107are coupled to each other, andFIG.5illustrates a state in which the end tool hub2106is removed. Meanwhile,FIG.7is a diagram mainly illustrating the wires, andFIG.8is a diagram mainly illustrating the pulleys.

Referring toFIGS.4to8and the like, the end tool2100of the first embodiment of the present disclosure includes a pair of jaws for performing a grip motion, that is, a first jaw2101and a second jaw2102. Here, a component encompassing each of the first jaw2101and the second jaw2102or both the first jaw2101and the second jaw2102may be referred to as a jaw2103.

In addition, the end tool2100may include the pulley2111, a pulley2112, a pulley2113, a pulley2114, a pulley2115, and a pulley2116, which are associated with the rotational motion of the first jaw2101. In addition, the end tool2100may include the pulley2121, a pulley2122, a pulley2123, a pulley2124, a pulley2125, and a pulley2126, which are associated with the rotational motion of the second jaw2102.

Here, although the drawings illustrate that the pulleys facing each other are arranged in parallel with each other, the technical concepts of the present disclosure are not limited thereto, and the pulleys may be formed in various positions and sizes suitable for the configuration of the end tool.

In addition, the end tool2100of the first embodiment of the present disclosure may include the end tool hub2106and the pitch hub2107.

A rotation shaft2141and a rotation shaft2142to be described below may be inserted through the end tool hub2106, and the end tool hub2106may accommodate therein at least portions of the pulley2111and the pulley2121, which are axially coupled to the rotation shaft2141. In addition, the end tool hub2106may accommodate therein at least portions of the pulley2112and the pulley2122, which are axially coupled to the rotation shaft2142.

In detail, referring toFIG.6, the end tool hub2106includes a first jaw pulley coupling portion2106a, a second jaw pulley coupling portion2106b, a guide portion2106c, a pitch pulley coupling portion2106e, and a separation prevention pulley coupling portion2106f.

In detail, the first jaw pulley coupling portion2106aand the second jaw pulley coupling portion2106bare formed to face each other, and the pulley2111, the pulley2121, the first staple pulley2181, and the second staple pulley2191are accommodated inside the first jaw pulley coupling portion2106aand the second jaw pulley coupling portion2106b. In addition, a through hole is formed in each of the first jaw pulley coupling portion2106aand the second jaw pulley coupling portion2106bsuch that the rotation shaft2141passes through and axially couples the first jaw pulley coupling portion2106a, the pulley2111, the first staple pulley2181, the second staple pulley2191, the pulley2121, and the second jaw pulley coupling portion2106b.

The first jaw pulley coupling portion2106aand the second jaw pulley coupling portion2106bare connected to each other by the guide portion2106c. That is, the first jaw pulley coupling portion2106aand the second jaw pulley coupling portion2106b, which are parallel to each other, are coupled to each other by the guide portion2106cformed in a direction approximately perpendicular to the first jaw pulley coupling portion2106aand the second jaw pulley coupling portion2106b, such that the first jaw pulley coupling portion2106a, the second jaw pulley coupling portion2106b, and the guide portion2106cform an approximately C-shape, and the pulley2111, the pulley2121, the first staple pulley2181, and the second staple pulley2191are accommodated therein.

Here, the pulley2111, which is a first jaw pulley, is arranged adjacent to the first jaw pulley coupling portion2106aof the end tool hub2106, and the pulley2121, which is a second jaw pulley, is arranged adjacent to the second jaw pulley coupling portion2106bof the end tool hub2106, such that a staple assembly accommodation portion may be formed between the first jaw pulley coupling portion2106aand the second jaw pulley coupling portion2106b. In addition, at least portions of a staple pulley assembly (see2160ofFIG.13) and a staple link assembly (see2170ofFIG.13) to be described below may be formed in the staple assembly accommodation portion. In other words, it may be said that at least portions of the first staple pulley2181, the second staple pulley2191, and a link member2171are arranged between the first jaw pulley coupling portion2106aand the second jaw pulley coupling portion2106b. As such, according to the present disclosure, by arranging at least portions of the staple pulley assembly (see2160ofFIG.13) and the staple link assembly (see2170ofFIG.13) between the pulley2111, which is a first jaw pulley, and the pulley2121, which is a second jaw pulley, the end tool2100is allowed to perform pitch and yaw motions, as well as stapling and cutting motions using the first staple pulley2181and the second staple pulley2191. This will be described below in more detail.

Meanwhile, the pulley2131serving as an end tool pitch pulley may be formed at one end of the end tool hub2106. As illustrated inFIG.6, the pulley2131may be integrally formed with the end tool hub2106as one body. That is, a disk-shaped pulley may be formed at one end of the end tool hub2106, and a groove around which a wire may be wound may be formed on an outer circumferential surface of the end tool hub2106. Alternatively, the pulley2131may be formed as a separate member from the end tool hub2106and coupled to the end tool hub2106. The wire303and the wire304described above are coupled to the pulley2131serving as an end tool pitch pulley, and a pitch motion is performed as the pulley2131rotates around a rotation shaft2143.

Meanwhile, the separation prevention pulley coupling portion2106fmay be further formed on one side of the pulley2131. The separation prevention pulley coupling portion2106fmay be formed parallel to the rotation shaft2143, which is an end tool pitch rotation shaft, such that a pulley2187, a pulley2188, a pulley2197, and a pulley2198to be described below are coupled thereto. Here, the pulley2187and the pulley2188may function as first staple wire separation prevention pulleys, and the pulley2197and pulley2198may function as second staple wire separation prevention pulleys. This will be described below in more detail.

The rotation shaft2143and a rotation shaft2144to be described below may be inserted through the pitch hub2107, and the pitch hub2107and the end tool hub2106may be axially coupled to the pitch hub2107by the rotation shaft2143. Thus, the end tool hub2106and the pulley2131may be formed to be rotatable around the rotation shaft2143with respect to the pitch hub2107.

In addition, the pitch hub2107may accommodate therein at least portions of the pulley2113, the pulley2114, the pulley2123, and the pulley2124that are axially coupled to the rotation shaft2143. In addition, the pitch hub2107may accommodate therein at least portions of the pulley2115, the pulley2116, the pulley2125, and the pulley2126that are axially coupled to the rotation shaft2144.

Meanwhile, the end tool2100of the first embodiment of the present disclosure may include the rotation shaft2141, the rotation shaft2142, the rotation shaft2143, and the rotation shaft2144. As described above, the rotation shaft2141and the rotation shaft2142may be inserted through the end tool hub2106, and the rotation shaft2143and the rotation shaft2144may be inserted through the pitch hub2107.

The rotation shaft2141, the rotation shaft2142, the rotation shaft2143, and the rotation shaft2144may be arranged sequentially from a distal end2104of the end tool2100toward a proximal end2105. Accordingly, in the direction from the distal end2104, the rotation shaft2141may be referred to as a first pin, the rotation shaft2142may be referred to as a second pin, the rotation shaft2143may be referred to as a third pin, and the rotation shaft2144may be referred to as a fourth pin.

Here, the rotation shaft2141may function as an end tool jaw pulley rotation shaft, the rotation shaft2142may function as an end tool jaw auxiliary pulley rotation shaft, the rotation shaft2143may function as an end tool pitch rotation shaft, and the rotation shaft2144may function as an end tool pitch auxiliary rotation shaft of the end tool2100.

One or more pulleys may be fit into each of the rotation shafts2141,2142,2143, and2144, which will be described below in detail.

Meanwhile, a rotation shaft2145may be further formed on one side of the rotation shaft2141, specifically, on the side of the distal end2104of the rotation shaft2141. The rotation shaft2145may be inserted through the first jaw2101and the second jaw2102to function as a jaw rotation shaft. This will be described in detail below.

The pulley2111functions as an end tool first jaw pulley, and the pulley2121functions as an end tool second jaw pulley. The pulley2111may be referred to as a first jaw pulley, the pulley2121may be referred to as a second jaw pulley, and the two components may be collectively referred to as an end tool jaw pulley or simply as a jaw pulley.

The pulley2111and the pulley2121, which are end tool jaw pulleys, are formed to face each other, and are formed to be rotatable independently of each other around the rotation shaft2141, which is an end tool jaw pulley rotation shaft. In this case, the pulley2111and the pulley2121are formed to be spaced apart from each other by a certain extent, and a staple assembly accommodation portion may be formed therebetween. In addition, at least portions of the staple pulley assembly2160and the staple link assembly2170to be described below may be arranged in the staple assembly accommodation portion.

Here, although the drawings illustrate that the pulley2111and the pulley2121are formed to rotate around one rotation shaft2141, it is also possible that each end tool jaw pulley may be formed to be rotatable around a separate shaft. Here, the first jaw2101may be fixedly coupled to the pulley2111to rotate together with the pulley2111, and the second jaw2102may be fixedly coupled to the pulley2121to rotate together with the pulley2121. Yaw and actuation motions of the end tool2100are performed according to the rotation of the pulley2111and the pulley2121. That is, when the pulley2111and the pulley2121rotate in the same direction around the rotation shaft2141, the yaw motion is performed, and when the pulley2111and the pulley2121rotate in opposite directions around the rotation shaft2141, the actuation motion is performed.

Here, the first jaw2101and the pulley2111may be formed as separate members and coupled to each other, or the first jaw2101and the pulley2111may be integrally formed as one body. Similarly, the second jaw2102and the pulley2121may be formed as separate members and coupled to each other, or the second jaw2102and the pulley2121may be integrally formed as one body.

The pulley2112functions as an end tool first jaw auxiliary pulley, the pulley2122functions as an end tool second jaw auxiliary pulley, and the two components may be collectively referred to as an end tool jaw auxiliary pulley or simply as an auxiliary pulley.

In detail, the pulley2112and the pulley2122, which are the end tool jaw auxiliary pulley, may be additionally provided on one side of the pulley2111and the pulley2121. In other words, the pulley2112, which is an auxiliary pulley, may be arranged between the pulley2111and the pulley2113/the pulley2114. In addition, the pulley2122, which is an auxiliary pulley, may be arranged between the pulley2121and the pulley2123/the pulley2124. The pulley2112and the pulley2122may be formed to be rotatable independently of each other around the rotation shaft2142. Here, although the drawings illustrate that the pulley2112and the pulley2122are formed to rotate around one rotation shaft2142, it is also possible that each of the pulley2112and the pulley2122may be formed to be rotatable around a separate shaft. Such an auxiliary pulley will be described below in more detail.

The pulley2113and the pulley2114function as end tool first jaw pitch main pulleys, the pulley2123and the pulley2124function as end tool second jaw pitch main pulleys, and the two components may collectively be referred to as an end tool jaw pitch main pulley.

The pulley2115and the pulley2116function as end tool first jaw pitch subsidiary pulleys, the pulley2125and the pulley2126function as end tool second jaw pitch subsidiary pulleys, and the two components may collectively be referred to as an end tool jaw pitch subsidiary pulley.

Hereinafter, components associated with the rotation of the pulley2111will be described.

The pulley2113and the pulley2114function as end tool first jaw pitch main pulleys. That is, the pulley2113and the pulley2114function as main rotation pulleys of the pitch motion of the first jaw2101. Here, the wire301, which is the first jaw wire, is wound around the pulley2113, and the wire305, which is the first jaw wire, is wound around the pulley2114.

The pulley2115and the pulley2116function as end tool first jaw pitch subsidiary pulleys. That is, the pulley2115and the pulley2116function as subsidiary rotation pulleys of the pitch motion of the first jaw2101. Here, the wire301, which is the first jaw wire, is wound around the pulley2115, and the wire305, which is the first jaw wire, is wound around the pulley2116.

Here, the pulley2113and the pulley2114are arranged on one side of the pulley2111and the pulley2112to face each other. Here, the pulley2113and the pulley2114are formed to be rotatable independently of each other around the rotation shaft2143, which is an end tool pitch rotating shaft. In addition, the pulley2115and the pulley2116are arranged on one side of each of the pulley2113and the pulley2114to face each other. Here, the pulley2115and the pulley2116are formed to be rotatable independently of each other around the rotation shaft2144, which is an end tool pitch auxiliary rotating shaft. Here, although the drawings illustrate that the pulley2113, the pulley2115, the pulley2114, and the pulley2116are formed to be rotatable around a Y-axis direction, the technical concepts of the present disclosure are not limited thereto, and the rotation shafts of each pulley may be formed in various directions suitable for their respective configurations.

The wire301, which is the first jaw wire, is wound sequentially such that at least a portion thereof is in contact with the pulley2115, the pulley2113, and the pulley2111. In addition, the wire305connected to the wire301by the fastening member323is sequentially wound such that at least a portion thereof is in contact with the pulley2111, the pulley2112, the pulley2114, and the pulley2116.

In other words, the wire301and wire305, which are the first jaw wire, are be sequentially wound such that at least portions thereof are in contact with the pulley2115, the pulley2113, the pulley2111, the pulley2112, the pulley2114, and the pulley2116, and the wire301and the wire305are formed to move along the pulleys while rotating the pulleys.

Accordingly, when the wire301is pulled toward an arrow301ofFIG.7, the fastening member323coupled to the wire301and the pulley2111coupled to the fastening member323rotate in the direction of an arrow L ofFIG.7. On the contrary, when the wire305is pulled toward the arrow305ofFIG.7, the fastening member323coupled to the wire305and the pulley2111coupled to the fastening member323rotate in the direction of the arrow R ofFIG.7.

Next, components associated with the rotation of the pulley2121will be described.

The pulley2123and the pulley2124function as end tool second jaw pitch main pulleys. That is, the pulley2123and the pulley2124function as main rotation pulleys of the pitch motion of the second jaw2102. Here, the wire306, which is the second jaw wire, is wound around the pulley2123, and the wire302, which is the second jaw wire, is wound around the pulley2124. The pulley2125and the pulley2126function as end tool second jaw pitch subsidiary pulleys. That is, the pulley2125and the pulley2126function as subsidiary rotation pulleys of the pitch motion of the second jaw2102. Here, the wire306, which is the second jaw wire, is wound around the pulley2125, and the wire302, which is the second jaw wire, is wound around the pulley2126.

The pulley2123and the pulley2124are arranged on one side of the pulley2121to face each other. Here, the pulley2123and the pulley2124are formed to be rotatable independently of each other around the rotation shaft2143, which is an end tool pitch rotating shaft. In addition, the pulley2125and the pulley2126may be arranged on one side of each of the pulley2123and the pulley2124to face each other. Here, the pulley2125and the J15 pulley2123J25 are formed to be rotatable independently of each other around the rotation shaft2144, which is an end tool pitch auxiliary rotating shaft. Here, although the drawings illustrate that the pulley2123, the pulley2125, the pulley2124, and the pulley2126are formed to be rotatable around the Y-axis direction, the technical concepts of the present disclosure are not limited thereto, and the rotation shafts of each pulley may be formed in various directions suitable for their respective configurations.

The wire306, which is the second jaw wire, is wound sequentially such that at least a portion thereof is in contact with the pulley2125, the pulley2123, and the pulley2121. In addition, the wire302connected to the wire306by the fastening member326is sequentially wound such that at least a portion thereof is in contact with the pulley2121, the pulley2122, the pulley2124, and the pulley2126.

In other words, the wire306and wire302, which are the second jaw wire, are sequentially wound such that at least portions thereof are in contact with the pulley2125, the pulley2123, the pulley2121, the pulley2122, the pulley2124, and the pulley2126, and the wire306and the wire302are formed to move along the pulleys while rotating the pulleys.

Accordingly, when the wire306is pulled in the direction of an arrow306ofFIG.7, the fastening member322to which the wire306is coupled, and the pulley2121coupled to the fastening member322rotate in the direction of the arrow R ofFIG.7. On the contrary, when the wire302is pulled in the direction of the arrow302ofFIG.7, the fastening member326to which the wire302is coupled, and the pulley2121coupled to the fastening member326rotate in the direction of the arrow L ofFIG.7.

Hereinafter, the pulley2112and the pulley2122serving as auxiliary pulleys will be described in more detail.

As the pulley2112and the pulley2122are in contact with the wire305, which is the first jaw wire, and the wire302, which is the second jaw wire, to change an arrangement path of the wire305and the wire302to a certain extent, the pulley2112and the pulley2122may serve to enlarge a rotation angle of each of the first jaw2101and the second jaw2102.

That is, when no auxiliary pulley is arranged, each of first jaw and the second jaw may rotate up to the right angle, however, in an embodiment of the present disclosure, by additionally arranging the pulley2112and the pulley2122, which are auxiliary pulleys, the maximum rotation angle may be increased by 0 as illustrated inFIG.8. This enables the opening motion of the two jaws of the end tool2100for the actuation motion when the two jaws are yaw-rotated by 90° in the L direction. This is because the second jaw2102may rotate by the additional angle θ as illustrated inFIG.8. Similarly, the actuation motion may be performed even when the two jaws are yaw-rotated in the L direction. In other words, through the pulley2112and the pulley2122, a range of yaw rotation allowing the actuation motion may be expanded.

This will be described in more detail as follows.

When no auxiliary pulley is arranged, as the first jaw wire is fixedly coupled to the end tool first jaw pulley, and the second jaw wire is fixedly coupled to the end tool second jaw pulley, each of the end tool first jaw pulley and the end tool second jaw pulley may rotate only up to 90°. In this case, when the actuation motion is performed in a state where the first jaw and the second jaw are placed on the 90° line, the first jaw may be opened, but the second jaw may not be able to rotate over 90°. Accordingly, in a state where the first jaw and the second jaw perform the yaw motion over a certain angle, the actuation motion may not be performed smoothly.

In order to address such a problem, in the surgical instrument2000of the present disclosure, the pulley2112and the pulley2122, which are auxiliary pulleys, are additionally arranged at one sides of the pulley2111and the pulley2121, respectively. By arranging the pulley2112and the pulley2122, the arrangement path of the wire305, which is the first jaw wire, and the wire302, which is the second jaw wire, is changed to a certain extent, and a tangential direction of the wire305and the wire302are changed, which allows rotation of the fastening member323coupling the wire302to the pulley2111up to the N line ofFIG.8. That is, the fastening member323, which is a coupling portion between the wire301and the pulley2111, is rotatable until it is positioned on a common internal tangent of the pulley2111and the pulley2112. Similarly, the fastening member326, which is a coupling portion of the wire302and the pulley2121, is rotatable until it is positioned on a common internal tangent of the pulley2121and the pulley2122, which allows expansion of the rotation range in the R direction.

In other words, by the pulley2112, the wire301and the wire305, which are two strands of the first jaw wire wound around the pulley2111, are arranged on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis. At the same time, by the pulley2122, the wire302and the wire306, which are two strands of the second jaw wire wound around the pulley2121, are arranged on another side with respect to the plane perpendicular to the Y-axis and passing through the X-axis.

In other words, the pulley2113and the pulley2114are arranged on one side with respect to the plane perpendicular to the Y-axis and passing through the X-axis, and the pulley2123and the pulley2124are arranged on another side with respect to the plane perpendicular to the Y-axis and passing through the X-axis.

In other words, the wire305is arranged on an internal tangent of the pulley2111and the pulley2112, and the rotation angle of the pulley2111may be expanded by the pulley2112. In addition, the wire302is arranged on an internal tangent of the pulley2121and the pulley2122, and the rotation angle of the pulley2121is expanded by the pulley2122.

According to the present disclosure, as the rotational radius of the jaw2101and the jaw2102is widened, the range of yaw motion allowing a normal open-and-shut actuation motion may be expanded.

Hereinafter, the pitch motion of the present disclosure will be described in more detail.

Meanwhile, when the wire301is pulled in the direction of the arrow301ofFIG.7, and simultaneously the wire305is pulled in the direction of the arrow305ofFIG.7(i.e., both strands of the first jaw wire are pulled), as the wire301and the wire305are wound downward around the pulley2113and the pulley2114, which are rotatable around the rotation shaft2143which is the end tool pitch rotation shaft, as illustrated inFIG.49, the pulley2111fixedly coupled to the wire301and the wire305and the end tool hub2106coupled to the pulley2111rotate in the counterclockwise direction around the rotation shaft2143, and as a result, the end tool2100rotates downward to perform the pitch motion. In this case, as the second jaw2102and the wire302and the wire306fixedly coupled to the second jaw2102are wound upward around the pulley2123and the pulley2124, which are rotatable around the rotation shaft2143, the wire302and the wire306are unwound in directions opposite to the directions302and306, respectively.

On the contrary, when the wire302is pulled in the direction of the arrow302ofFIG.7, and simultaneously the wire306is pulled in the direction of the arrow306ofFIG.7, as the wire302and the wire306are wound upward around the pulley2123and the pulley2124, which are rotatable around the rotation shaft2143, which is the end tool pitch rotation shaft, as illustrated inFIG.49, the pulley2121fixedly coupled to the wire302and the wire306and the end tool hub2106coupled to the pulley2121rotate around the rotation shaft2143in the clockwise direction, and as a result, the end tool2100rotates upward to perform the pitch motion. In this case, as the first jaw2101and the wire301and the wire305fixedly coupled to the first jaw2101are wound downward around the pulley2113and the pulley2114, which are rotatable around the rotation shaft2143, the wire302and the wire306are moved in directions opposite to the directions301and305, respectively.

Meanwhile, the end tool2100of the surgical instrument2000of the present disclosure may further include the pulley2131, which is an end tool pitch pulley, the manipulation portion200may further include the pulley231and a pulley232, which are manipulation portion pitch pulleys, and the power transmission part300may further include the wire303and the wire304, which are pitch wires. In detail, the pulley2131of the end tool2100is rotatable around the rotation shaft2143, which is an end tool pitch rotation shaft, and may be integrally formed with the end tool hub2106as one body (or to be fixedly coupled to the end tool hub2106). In addition, the wire303and the wire304may serve to connect the pulley2131of the end tool2100to the pulley231and the pulley232of the manipulation portion200.

Thus, when the pulley231and the pulley232of the manipulation portion200rotate, the rotation of the pulley231and the pulley232is transmitted to the pulley2131of the end tool2100through the wire303and the wire304such that the pulley2131rotates together therewith, and as a result, the end tool2100performs a pitch motion while rotating.

That is, in the surgical instrument2000according to the first embodiment of the present disclosure, by providing the pulley2131of the end tool2100, the pulley231and the pulley232of the manipulation portion200, and the wire303and the wire304of the power transmission part300, the driving force for the pitch motion of the manipulation portion200may be perfectly transmitted to the end tool2100, thereby improving operation reliability.

Here, a diameter of the pulley2113, the pulley2114, the pulley2123, and the pulley2124, which are end tool jaw pitch main pulleys, and a diameter of the pulley2131, which is an end tool pitch pulley, may be equal to or different from each other. Here, a ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the end tool pitch pulley may be equal to a ratio of a diameter of the manipulation portion pitch pulley of the manipulation portion200to a diameter of a manipulation portion pitch main pulley to be described below. This will be described in detail below.

(Components Associated with Staple Pulley)

Hereinafter, the first staple pulley2181and the second staple pulley2191of the staple pulley assembly2160of the end tool2100of the surgical instrument2000ofFIG.2will be described in more detail.

FIG.9is a side view illustrating the end tool of the surgical instrument ofFIG.2, andFIGS.10and11are perspective views illustrating the first jaw of the surgical instrument ofFIG.2.FIG.12is a perspective view illustrating the first jaw pulley of the surgical instrument ofFIG.2,FIG.13is a plan view illustrating the first jaw of the surgical instrument ofFIG.2,FIG.14is a plan view illustrating the second jaw of the surgical instrument ofFIG.2, andFIGS.15and16are exploded perspective views illustrating the staple pulley and the staple link of the surgical instrument ofFIG.2.

Referring toFIGS.4to16and the like, the end tool2100of the first embodiment of the present disclosure may include the first staple pulley2181, a first staple auxiliary pulley2182, a pulley2183, a pulley2184, a pulley2185, and a pulley2186that are associated with linear/rotational motions of respective pulleys and links for stapling and cutting. In addition, the end tool2100of the first embodiment of the present disclosure may further include the pulley2187and the pulley2188.

In addition, the end tool2100of the first embodiment of the present disclosure may include the second staple pulley2191, a second staple auxiliary pulley2192, a pulley2193, a pulley2194, a pulley2195, and a pulley2196that are associated with linear/rotational motions of respective pulleys and links for stapling and cutting. In addition, the end tool2100of the first embodiment of the present disclosure may further include the pulley2197and the pulley2198.

The first staple pulley2181and the second staple pulley2191are formed to face the pulley2111and the pulley2121, which are end tool jaw pulleys, and are formed to be rotatable independently of each other around the rotation shaft2141, which is an end tool jaw pulley rotation shaft. Here, although the drawings illustrate that the first staple pulley2181and the second staple pulley2191are arranged between the pulley2111and the pulley2121, the technical concepts of the present disclosure is not limited thereto, and the first staple pulley2181and the second staple pulley2191may be arranged at various positions adjacent to the pulley2111or the pulley2121.

Here, according to the present disclosure, the first staple pulley2181, the second staple pulley2191, the pulley2111, and the pulley2121are formed to rotate around substantially the same shaft. As such, as the first staple pulley2181, the second staple pulley2191, the pulley2111, and the pulley2121are formed to rotate around the same shaft, it is possible to perform a pitch motion/yaw motion/actuation motion as well as stapling and cutting motions. This will be described below in more detail. However, although the drawings illustrate that the first staple pulley2181, the second staple pulley2191, the pulley2111, and the pulley2121are formed to rotate around one rotation shaft2141, the pulleys may also be formed to be rotatable around separate shafts that are concentric with each other.

In other words, it may also be described that the pulley2111, which is the first jaw pulley, the first staple pulley2181, the second staple pulley2191, and the pulley2121, which is the second jaw pulley, are sequentially stacked along the rotation shaft2141. Alternatively, it may also be described that the first staple pulley2181and the second staple pulley2191are arranged between the pulley2111and the pulley2121facing each other. Here, the pulley2111, which is the first jaw pulley, the first staple pulley2181, the second staple pulley2191, and the pulley2121, which is the second jaw pulley, may be formed to rotate independently of each other.

The first staple auxiliary pulley2182may be additionally provided on one side of the first staple pulley2181. In other words, the first staple auxiliary pulley2182may be arranged between the first staple pulley2181and the pulley2183/the pulley2184. The first staple auxiliary pulley2182may be formed to be rotatable independently of the pulley2112and the pulley2122around the rotation shaft2142.

Meanwhile, the pulley2187and the pulley2188may be additionally arranged between the first staple auxiliary pulley2182and the pulley2183/the pulley2184. The pulley2187and the pulley2188may be formed to be rotatable around the separation prevention pulley coupling portion2106fof the end tool hub2106. Here, the separation prevention pulley coupling portion2106fmay be formed parallel to the rotation shaft2143, which is the central axis of the pulley2183and the pulley2184. Here, the pulley2187and the pulley2188may function as first staple wire separation prevention pulleys.

Meanwhile, the pulley2183and the pulley2184may function as staple pitch main pulleys, and the pulley2185and the pulley2186may function as staple pitch subsidiary pulleys.

The second staple auxiliary pulley2192may be additionally provided on one side of the second staple pulley2191. In other words, the second staple auxiliary pulley2192may be arranged between the second staple pulley2191and the pulley2193/the pulley2194. The second staple auxiliary pulley2192may be formed to be rotatable independently of the pulley2112and the pulley2122around the rotation shaft2142.

Here, although the drawings illustrate that the first staple auxiliary pulley2182, the second staple auxiliary pulley2192, the pulley2112, and the pulley2122are formed to rotate around one rotation shaft2142, the first staple auxiliary pulley2182, the second staple auxiliary pulley2192, the pulley2112, and the pulley2122may also be formed to be rotatable around separate shafts. Such a staple auxiliary pulley will be described in more detail below.

Meanwhile, the pulley2197and the pulley2198may be additionally arranged between the second staple auxiliary pulley2192and the pulley2193/the pulley2194. The pulley2197and the pulley2198may be formed to be rotatable around the separation prevention pulley coupling portion2106fof the end tool hub2106. Here, the separation prevention pulley coupling portion2106fmay be formed parallel to the rotation shaft2143, which is the central axis of the pulley2183and the pulley2184. Here, the pulley2197and the pulley2198may function as second staple wire separation prevention pulleys.

Meanwhile, the pulley2193and the pulley2194may function as staple pitch main pulleys, and the pulley2195and the pulley2196may function as staple pitch subsidiary pulleys.

Hereinafter, the first staple auxiliary pulley2182will be described in more detail.

The first staple auxiliary pulley2182may serve to increase the rotation angle of the first staple pulley2181by coming into contact with the wire308, which is a first staple wire, to change the arrangement path of the wire308to a certain extent.

That is, when no staple auxiliary pulley is arranged, the staple pulley is rotatable only up to a right angle, but in an embodiment of the present disclosure, by additionally providing the first staple auxiliary pulley2182, which is an auxiliary pulley, the maximum rotation angle may be increased by 0. This allows the first staple pulley2181to rotate for the stapling and cutting motions while the two jaws of the end tool2100are yaw-rotated together by 90°, thus enabling a linear motion of an operation member540to be described below. In other words, a feature of increasing the range of yaw rotation in which stapling and cutting motions are possible may be obtained through the first staple auxiliary pulley2182.

This will be described in more detail as follows.

In the surgical instrument2000of the present disclosure, the first staple auxiliary pulley2182is further arranged on one side of the first staple pulley2181. As such, by arranging the first staple auxiliary pulley2182to change the arrangement path of the wire308, which is the first staple wire, to a certain extent, the tangential direction of the wire308is changed, and thus the rotation angle of the fastening member (see329ofFIG.62) that couple the wire308to the first staple pulley2181is increased. That is, the fastening member (see329ofFIG.62), which is a coupling portion of the wire308and the first staple pulley2181, is rotatable until the fastening member329is located on the common internal tangent of the first staple pulley2181and the staple auxiliary pulley2122.

In other words, the wire308is located on the internal tangent of the first staple pulley2181and the first staple auxiliary pulley2182, and the rotation angle of the first staple pulley2181is increased by the first staple auxiliary pulley2182.

According to the present disclosure, as the rotation radius of the first staple pulley2181increases, a yaw motion range in which normal stapling and cutting motions may be performed may be increased.

Hereinafter, the pulley2187and the pulley2188, which are first staple wire separation prevention pulleys, will be described in more detail.

The end tool2100of the surgical instrument according to the first embodiment of the present disclosure may further include the pulley2187and the pulley2188, which are the first staple wire separation prevention pulleys, and thus may serve to prevent separation of the wire307and the wire308, which are the first staple wires.

That is, the pulley2187/the pulley2188are arranged between the first staple auxiliary pulley2182and the pulley2183/the pulley2184so as to change the path of the wire307to the first staple pulley2181via the pulley2183and the path of the wire308to the first staple auxiliary pulley2182via the pulley2184, to a certain extent. In more detail, the path of the wire307/the wire308is changed to a certain extent such that the wire307toward the first staple pulley2181via the pulley2183and the wire308toward the first staple auxiliary pulley2182via the pulley2184are parallel to the X-axis.

In detail, the height of the wire307wound around the pulley2183in the Z-axis direction is different from the height of the wire307toward the first staple pulley2181in the Z-axis direction. Similarly, the height of the wire308wound around the pulley2184in the Z-axis direction is different from the height of the wire308toward the first staple auxiliary pulley2182in the Z-axis direction. Thus, when the pulley2187/the pulley2188, which are the first staple wire separation prevention pulleys, do not exist, the path of the wire307/the wire308becomes oblique (i.e., the fleet angle of the wire relative to the pulley increases), and thus, there is a risk that the wire307/the wire308are separated from the pulley, and there is also a risk that the wire307/the wire308are damaged.

Thus, in the present embodiment, the pulley2187/the pulley2188, which are the first staple wire separation prevention pulleys, are arranged between the first staple auxiliary pulley2182and the pulley2183/the pulley2184, to serve to change the path of the wire307/the wire308to a certain extent such that the wire307/the wire308toward the distal end2104of the end tool2100after being wound around the pulley2183/the pulley2184are parallel to the X-axis.

According to the present disclosure, the wire307and the wire308, which are the first staple wires, are prevented from being separated from the pulleys, thereby more smoothly performing the cutting motion.

Hereinafter, components associated with the rotation of the first staple pulley2181will be described.

The pulley2183and the pulley2184function as staple pitch main pulleys. Here, the wire307, which is a first staple wire, is wound around the pulley2183, and the wire308, which is a first staple wire, is wound around the pulley2184.

The pulley2185and the pulley2186function as staple pitch subsidiary pulleys. Here, the wire307, which is a first staple wire, is wound around the pulley2185, and the wire308, which is a first staple wire, is wound around the pulley2186.

Here, the pulley2183and the pulley2184are arranged on one side of the first staple pulley2181, the first staple auxiliary pulley2182, and the pulley2187/the pulley2188, to face each other. Here, the pulley2183and the pulley2184are formed to be rotatable independently of each other around the rotation shaft2143, which is an end tool pitch rotation shaft. In addition, the pulley2185and the pulley2186are arranged on one sides of the pulley2183and the pulley2184, respectively, to face each other. Here, the pulley2185and the pulley2186are formed to be rotatable independently of each other around the rotation shaft2144, which is an end tool pitch auxiliary rotating shaft. Although the drawings illustrate that the pulley2183, the pulley2185, the pulley2184, and the pulley2186are formed to be rotatable around the Y-axis direction, the technical concepts of the present disclosure are not limited thereto, and the rotation shafts of each pulley may be formed in various directions suitable for their respective configurations.

As described above, the rotation shaft2141, the rotation shaft2142, the rotation shaft2143, and the rotation shaft2144may be arranged sequentially from the distal end2104of the end tool2100toward the proximal end2105. Accordingly, the first staple pulley2181, the first staple auxiliary pulley2182, the pulley2187/the pulley2188, the pulley2183/the pulley2184, and the pulley2185/the pulley2186may be arranged sequentially from the distal end2104of the end tool2100to the proximal end2105.

The wire307, which is the first staple wire, is sequentially wound such that at least a portion thereof is in contact with the pulley2185, the pulley2183, the pulley2187, and the first staple pulley2181. In addition, the wire308connected to the wire307by the fastening member (see329ofFIG.62) is sequentially wound such that at least a portion thereof is in contact with the first staple pulley2181, the first staple auxiliary pulley2182, the pulley2188, the pulley2184, and the pulley2186.

In other words, the wire307and the wire308, which are first staple wires, are sequentially wound such that at least portions thereof are in contact with the pulley2185, the pulley2183, the first staple pulley2181, the first staple auxiliary pulley2182, the pulley2188, the pulley2184, and the pulley2186, and the wire307and the wire308are formed to move along the pulleys while rotating above pulleys.

Accordingly, when the wire307is pulled, the fastening member (see329ofFIG.62) to which the wire307is coupled and the first staple pulley2181coupled to the fastening member329rotate in one direction. On the contrary, when the wire308is pulled, the fastening member (see329ofFIG.62) to which the wire308is coupled and the first staple pulley2181coupled to the fastening member329rotate in the opposite direction.

Meanwhile, the second staple pulley2191, the second staple auxiliary pulley2192, and the pulley2193, the pulley2194, the pulley2195, the pulley2196, the pulley2197, the pulley2198, the wire309, the wire310, and the like, which are associated with the second staple pulley2191, the second staple auxiliary pulley2192, may have the same or similar configurations as those of the components associated with the first staple pulley2181described above.

In detail, the pulley2193and the pulley2194function as staple pitch main pulleys. Here, the wire310, which is a second staple wire, is wound around the pulley2193, and the wire309, which is a second staple wire, is wound around the pulley2194.

The pulley2195and the pulley2196function as staple pitch subsidiary pulleys. Here, the wire310, which is a second staple wire, is wound around the pulley2195, and the wire309, which is a second staple wire, is wound around the pulley2196.

Here, the pulley2193and the pulley2194are arranged on one side of the second staple pulley2191, the second staple auxiliary pulley2192, and the pulley2197/the pulley2198, to face each other. Here, the pulley2193and the pulley2194are formed to be rotatable independently of each other around the rotation shaft2143, which is an end tool pitch rotation shaft. In addition, the pulley2195and the pulley2196are arranged on one sides of the pulley2193and the pulley2194, respectively, to face each other. Here, the pulley2195and the pulley2196are formed to be rotatable independently of each other around the rotation shaft2144, which is an end tool pitch auxiliary rotating shaft. Although the drawings illustrate that the pulley2193, the pulley2195, the pulley2194, and the pulley2196are formed to be rotatable around the Y-axis direction, the technical concepts of the present disclosure are not limited thereto, and the rotation shafts of each pulley may be formed in various directions suitable for their respective configurations.

As described above, the rotation shaft2141, the rotation shaft2142, the rotation shaft2143, and the rotation shaft2144may be arranged sequentially from the distal end2104of the end tool2100toward the proximal end2105. Accordingly, the second staple pulley2191, the second staple auxiliary pulley2192, the pulley2197/the pulley2198, the pulley2193/the pulley2194, and the pulley2195/the pulley2196may be arranged sequentially from the distal end2104of the end tool2100to the proximal end2105.

The wire310, which is the second staple wire, is sequentially wound such that at least a portion thereof is in contact with the pulley2195, the pulley2193, the pulley2197, and the first staple pulley2191. In addition, the wire309connected to the wire310by the fastening member (see330ofFIG.62) is sequentially wound such that at least a portion thereof is in contact with the first staple pulley2191, the first staple auxiliary pulley2192, the pulley2198, the pulley2194, and the pulley2196.

In other words, the wire310and the wire309, which are second staple wires, are sequentially wound such that at least portions thereof are in contact with the pulley2195, the pulley2193, the first staple pulley2191, the first staple auxiliary pulley2192, the pulley2198, the pulley2194, and the pulley2196, and the wire310and the wire309are formed to move along the pulleys while rotating above pulleys.

Accordingly, when the wire310is pulled, the fastening member (see330ofFIG.62) to which the wire310is coupled and the first staple pulley2191coupled to the fastening member330rotate in one direction. On the contrary, when the wire309is pulled, the fastening member (see330ofFIG.62) to which the wire309is coupled and the first staple pulley2191coupled to the fastening member330rotate in the opposite direction.

Hereinafter, a staple drive assembly2150will be described in detail.

Referring toFIGS.15to20and the like, the staple drive assembly2150may include the staple pulley assembly2160and the staple link assembly2170. Here, the staple drive assembly2150is connected to a reciprocating assembly550of a cartridge500to be described below, to convert a rotational motion of the staple pulley assembly2160into a linear motion of the reciprocating assembly550. In other embodiments of the present disclosure to be described below, the staple drive assembly may be understood as a concept including the staple pulley assembly and the staple link assembly.

The staple pulley assembly2160may include one or more staple pulleys. The staple pulley assembly2160may be formed between the pulley2111and the pulley2121to be adjacent to the pulley2111and the pulley2121. In the present embodiment, it is assumed that the staple pulley assembly2160includes two staple pulleys, which are the first staple pulley2181and the second staple pulley2191.

The staple link assembly2170may include one or more link members2171. In addition, the link member2171may include one or more links. In the first embodiment of the present disclosure, it is assumed that the staple link assembly2170includes one link member2171and the link member2171includes one link.

In the end tool2100of the surgical instrument according to the present disclosure, the staple pulley assembly2160and the staple link assembly2170form a cam/slot structure. In addition, with such a structure, a force for moving the reciprocating assembly550forward may be amplified.

In detail, the staple pulley assembly2160may include the first staple pulley2181and the second staple pulley2191.

The first staple pulley2181may include a body2181a, a protruding member2181b, and a shaft pass-through part2181c.

The body2181ais formed in a disk shape.

The shaft pass-through part2181cmay be formed in a central portion of the body2181a. The shaft pass-through part2181cmay be formed in the form of a hole, and the rotation shaft2141, which is an end tool jaw pulley rotation shaft, may be inserted through the shaft pass-through part2181c.

In addition, the protruding member2181bmay be formed on the body part2181aof the first staple pulley2181. The protruding member2181bmay be coupled to the link member2171of the staple link assembly2170. Here, the center of the protruding member2181bmay not coincide with the center of the first staple pulley2181, and the protruding member2181bmay be formed to be eccentric to a certain extent with respect to the first staple pulley2181. The protruding member2181bmay be fitted into a first slot2171dof the link member2171to be described below.

The second staple pulley2191may include a body2191a, a protruding member2191b, and a shaft pass-through part2191c.

The body2191ais formed in a disk shape.

the shaft pass-through part2191cmay be formed in a central portion of the body2191a. The shaft pass-through part2191cmay be formed in the form of a hole, and the rotation shaft2141, which is an end tool jaw pulley rotation shaft, may be inserted through the shaft pass-through part2191c.

In addition, the protruding member2191bmay be formed on the body part2191aof the second staple pulley2191. The protruding member2191bmay be coupled to the link member2171of the staple link assembly2170. Here, the center of the protruding member2191bmay not coincide with the center of the second staple pulley2191, and the protruding member2191bmay be formed to be eccentric to a certain extent with respect to the first staple pulley2191. The protruding member2191bmay be fitted into a second slot2171eof the link member2171to be described below.

Meanwhile, the end tool2100of the present disclosure may further include the staple link assembly2170connected to the staple pulley assembly2160, and the staple link assembly2170may include the link member2171. Here, the staple link assembly2170may serve to connect the staple pulley assembly2160to a reciprocating assembly2150of a cartridge2110to be described below.

In the present embodiment, the staple link assembly2170includes one link member2171, and the link member2171includes only one link. That is, by coupling the staple pulley assembly2160to the staple link assembly2170by a cam/slot structure, it is possible to convert a rotational motion of the staple pulley assembly2160into a linear motion of the staple link assembly2170even when the staple link assembly2170includes only one link.

In detail, the link member2171may be formed as a single link.

The link member2171is formed in a shape of a combination of an elongated bar with an elliptical flat plate, and may be formed in an approximately ‘L’ shape. Here, the link member2171may include a first protrusion2171a, a second protrusion2171b, a fastening portion2171c, the first slot2171d, and the second slot2171e.

the first protrusion2171aand the second protrusion2171bmay be formed in one region of a central portion of the link member2171. The first protrusion2171aand the second protrusion2171bmay be fitted into a guide groove2101bof the first jaw2101.

As such, as the first protrusion2171aand the second protrusion2171bare moved along the guide groove2101bin a state in which the first protrusion2171aand the second protrusion2171bof the link member2171formed in a protruding shape are fitted into the groove-shaped guide groove2101b, the link member2171is moved with respect to the first jaw2101(and the cartridge500therein). This will be described below in more detail.

Meanwhile, the fastening portion2171cmay be formed at one end of the link member2171. The fastening portion2171cmay be coupled to a fastening portion551aof a reciprocating member551of the cartridge500.

Meanwhile, the first slot2171dand the second slot2171emay be formed at an end opposite to the end of the link member2171at which the fastening portion2171cis formed.

In detail, the first slot2171dmay be formed on a surface of the link member2171facing the first staple pulley2181. Here, the first slot2171dmay be formed in the shape of an elongated hole, and the protruding member2181bof the first staple pulley2181may be inserted into the first slot2171d. The first slot2171dmay be formed to have a predetermined curvature, and may be formed in an approximately elliptical shape. Here, the first slot2171dmay be formed to be greater than the protruding member2181bby a certain extent. Accordingly, the protruding member2181bis formed to be movable to a certain extent in the first slot2171din a state in which the protruding member2181bof the first staple pulley2181is fitted into the first slot2171dof the link member2171.

As described above, the protruding member2181bmay be formed to be eccentric with respect to the center of the first staple pulley2181by a certain extent. Accordingly, when the first staple pulley2181rotates, the protruding member2181bin contact with the first slot2171dmay push the first slot2171dto move the link member2171. That is, when the first staple pulley2181rotates, the protruding member2181bmay move while being in contact with the first slot2171dwithin the first slot2171d, and accordingly, the link member2171may linearly move along the guide groove2101bof the first jaw2101.

Here, the first slot2171dmay be formed not to pass through the entire thickness of the link member2171, but to pass through about half of the entire thickness of the link member2171. In other words, the first slot2171dmay be formed to have substantially the same thickness as the thickness of the protruding member2181bof the first staple pulley2181.

Meanwhile, the second slot2171emay be formed in the link member2171. In detail, the second slot2171emay be formed on a surface of the link member2171facing the second staple pulley2191. Here, the second slot2171emay be formed in the shape of an elongated hole, and the protruding member2191bof the second staple pulley2191may be inserted into the second slot2171e. The second slot2171emay be formed to have a predetermined curvature, and may be formed in an approximately elliptical shape. Here, the second slot2171emay be formed to be greater than the protruding member2191bby a certain extent. Accordingly, the protruding member2191bis formed to be movable to a certain extent in the second slot2171ein a state in which the protruding member2191bof the second staple pulley2191is fitted into the second slot2171eof the link member2171.

As described above, the protruding member2191bmay be formed to be eccentric with respect to the center of the second staple pulley2191by a certain extent. Accordingly, when the second staple pulley2191rotates, the protruding member2191bin contact with the second slot2171emay push the second slot2171eto move the link member2171. That is, when the second staple pulley2191rotates, the protruding member2191bmay move while being in contact with the second slot2171ewithin the second slot2171e, and accordingly, the link member2171may linearly move along the guide groove2101bof the first jaw2101.

Here, the second slot2171emay be formed not to pass through the entire thickness of the link member2171, but to pass through about half of the entire thickness of the link member2171. In other words, the second slot2171emay be formed to have substantially the same thickness as the thickness of the protruding member2191bof the second staple pulley2191.

Here, the first slot2171dand the second slot2171emay be formed to at least partially overlap each other. In addition, the sum of the thicknesses of the first slot2171dand the second slot2171ein the Y-axis direction may be substantially equal to the thickness of the link member2171in the Y-axis direction.

Here, the first slot2171dand the second slot2171emay be formed to be vertically symmetrical with respect to the rotation shaft2141. As such, as the first slot2171dand the second slot2171eare vertically symmetrical with respect to the rotation shaft2141, the protruding member2181bof the first staple pulley2181and the protruding member2191bof the second staple pulley2191, which are coupled to the link member2171, may be arranged to be symmetrical with each other. This will be described below in more detail.

(Displacement and Operation of Staple Link Assembly According to Rotation of Staple Pulley)

Hereinafter, displacement of the staple link assembly2170according to rotation of the first staple pulley2181and the second staple pulley2191will be described.

Referring toFIG.17, in the first embodiment of the present disclosure, the first staple pulley2181and the staple link assembly2170are coupled to each other in a cam/slot form. That is, the cam-shaped protruding member2181bformed on the first staple pulley2181is coupled to the first slot2171dformed in the link member2171. Thus, when the first staple pulley2181rotates in the direction of an arrow A, the displacement of the protruding member2181bof the first staple pulley2181in the X-axis direction becomes B. In addition, the displacement of the staple link assembly2170in the X-axis direction becomes C.

Similarly, referring toFIG.18, in the first embodiment of the present disclosure, the second staple pulley2191and the staple link assembly2170are coupled to each other in a cam/slot form. That is, the cam-shaped protruding member2191bformed on the second staple pulley2191is coupled to the second slot2171eformed in the link member2171. Thus, when the second staple pulley2191rotates in the direction of an arrow D, the displacement of the protruding member2191bof the second staple pulley2191in the X-axis direction becomes E. In addition, the displacement of the staple link assembly2170in the X-axis direction becomes F.

In comparison with the above case, when a staple pulley and a staple link assembly are coupled to each other in a link-shaft manner rather than the cam/slot manner, the displacement of the staple link assembly in the X-axis direction becomes much longer than that in the first embodiment of the present disclosure.

In other words, compared to when the staple pulley and the staple link assembly are axially coupled to each other, when the staple pulley and the staple link assembly are coupled to each other in the cam/slot manner as in the present embodiment, the displacement of the staple link assembly displacement in the X-axis direction decreases even when the staple pulley rotates by the same amount.

Meanwhile, since work is the product of force and displacement, assuming that the work for rotating the staple pulley is the same, the displacement and the force are inversely proportional to each other. Accordingly, when the displacement is reduced, the force is increased in inverse proportion to the displacement.

As a result, in the first embodiment of the present disclosure, because the first staple pulley2181and the second staple pulley2191are each coupled to the staple link assembly2170in the cam/slot form, and the displacement of the staple link assembly2170in the X-axis direction due to the rotation of the first staple pulley2181and the second staple pulley2191is relatively reduced compared to other embodiments, the force received by the staple link assembly2170in the X-axis direction relatively increases compared to a simple link structure.

According to the first embodiment of the present disclosure described above, a force for moving forward the staple link assembly2170and the reciprocating assembly550connected thereto is amplified, and thus, a stapling motion may be performed more robustly.

In particular, in the first embodiment of the present disclosure, because two staple pulleys (i.e., the first staple pulley2181and the second staple pulley2191) symmetrical to each other are provided, the force with which the staple pulley assembly2160pushes the staple link assembly2170may be amplified by approximately two times compared to a case in which only one staple pulley is provided.

In addition, because the first staple pulley2181and the second staple pulley2191are arranged to be horizontally symmetrical with each other with respect to an XZ plane, the horizontal balance is achieved in performing a stapling motion, such that the end tool2100may perform the motion stably with respect to the rotation shaft2141, which a yaw rotation shaft, without shaking left and right. In addition, when the winding directions of the wire307/the wire308, which are first staple wires, and the wire309/the wire310, which are second staple wires, are changed to be opposite to each other with respect to the rotation shaft2143, which is a pitch rotation shaft, shaking with respect to the rotation shaft2143may be mutually offset.

Hereinafter, rotation directions of the first staple pulley2181and the second staple pulley2191will be described.

Referring toFIGS.17,18,19,20, and the like, the first staple pulley2181moves forward the staple link assembly2170when rotating in the direction of an arrow A ofFIG.20(i.e., the clockwise direction), and the second staple pulley2191moves forward the staple link assembly2170when rotating in the direction of an arrow D ofFIG.20(i.e., the counterclockwise direction).

On the contrary, the first staple pulley2181moves backward the staple link assembly2170when rotating in the counterclockwise direction, and the second staple pulley2191moves backward the staple link assembly2170when rotating in the clockwise direction.

Accordingly, when the first staple pulley2181and the second staple pulley2191rotate in opposite directions, the staple link assembly2170is moved (forward or backward). On the contrary, when the first staple pulley2181and the second staple pulley2191rotate in the same direction, the rotation of the two pulleys is offset, and thus, the staple link assembly2170is not moved.

Accordingly, in a state illustrated inFIG.19, when the first staple pulley2181rotates in the clockwise direction and the second staple pulley2191rotates in the counterclockwise direction at the same time, the link member2171connected to the first staple pulley2181and the second staple pulley2191may move toward a distal end (see2101fofFIG.13) of the first jaw2101.

On the contrary, when the first staple pulley2181rotates in the counterclockwise direction and the second staple pulley2191rotates in the clockwise direction at the same time, the link member2171connected to the first staple pulley2181and the second staple pulley2191may move toward a proximal end (see101gofFIG.13) of the first jaw2101.

Thus, a bidirectional rotational motion of the staple pulley assembly2160causes a reciprocating linear motion of the reciprocating assembly550of the cartridge500through the staple link assembly2170. This will be described below in more detail.

(First and Second Jaws and Actuation Motion)

Hereinafter, the coupling structure of the first jaw2101and the second jaw2102of the end tool2100of the surgical instrument2000ofFIG.2will be described in more detail.

FIG.13is a plan view illustrating a first jaw of the surgical instrument ofFIG.2, andFIG.14is a plan view illustrating a second jaw of the surgical instrument ofFIG.2.FIGS.21and22are plan views illustrating opening and closing motions of the first jaw and the second jaw of the surgical instrument ofFIG.2.FIGS.23and24are plan views illustrating opening and closing motions of the first jaw and the second jaw of the surgical instrument ofFIG.2.FIGS.25and26are perspective views illustrating opening and closing motions of the end tool of the surgical instrument ofFIG.2.

Referring toFIGS.9to26and the like, the first jaw2101includes a cartridge accommodation portion2101a, the guide groove2101b, a movable-coupling hole2101c, a jaw pulley coupling hole2101d, and a shaft pass-through part2101e.

The first jaw2101is formed entirely in the shape of an elongated bar, the cartridge500is accommodated in the side of the distal end2101f, and the pulley2111is coupled to the proximal end2101g, such that the first jaw2101is formed to be rotatable around the rotation shaft2141. In other words, the first jaw2101may be formed entirely in the form of a hollow box whose one surface (upper surface) is removed, such that the cartridge accommodation portion2101acapable of accommodating the cartridge500may be formed inside the first jaw2101. That is, the first jaw2101may be formed in an approximately ‘U’ shape in cross section.

The guide groove2101bto guide the movement of the staple link assembly2170to be described below may be formed on one side of the cartridge accommodation portion2101aof the first jaw2101, for example, on the side of the proximal end2101g. The guide groove2101bmay be formed in the shape of a groove formed along a moving path of the staple link assembly2170. In addition, as the first protrusion2171aand the second protrusion2171bmove along the guide groove2101bin a state in which the first protrusion2171aand the second protrusion2171bof the link member2171formed in a protruding shape are fitted into the groove-shaped guide groove2101b, the staple link assembly2170moves with respect to the first jaw2101(and the cartridge500therein). That is, the staple link assembly2170may move along the guide groove2101bof the first jaw2101.

Meanwhile, the movable-coupling hole2101c, the jaw pulley coupling hole2101d, and the shaft pass-through part2101emay be formed on the side of the proximal end of the first jaw2101.

Here, the movable-coupling hole2101cmay be formed to have a predetermined curvature, and may be formed in an approximately elliptical shape. A shaft coupling portion2111aof the pulley2111to be described below may be fitted into the movable-coupling hole2101c. Here, a short radius of the movable-coupling hole2101cmay be substantially equal to or slightly greater than a radius of the shaft coupling portion2111a. Meanwhile, a long radius of the movable-coupling hole2101cmay be greater than the radius of the shaft coupling portion2111a. Thus, the shaft coupling portion2111ais formed to be movable to a certain extent within the movable-coupling hole2101cin a state in which the shaft coupling portion2111aof the pulley2111is fitted into the movable-coupling hole2101cof the first jaw2101. This will be described in more detail below.

Meanwhile, the jaw pulley coupling hole2101dis formed in the form of a cylindrical hole, and a jaw coupling portion2111bof the pulley2111to be described below may be fitted into the jaw pulley coupling hole2101d. Here, a radius of the jaw pulley coupling hole2101dmay be substantially equal to or slightly greater than a radius of the jaw coupling portion2111b. Thus, the jaw coupling portion2111bof the pulley2111may be formed to be rotatably coupled to the jaw pulley coupling hole2101dof the first jaw2101. This will be described in more detail below.

The shaft pass-through part2101emay be formed closer to the distal end2101fof the first jaw2101compared to the movable-coupling hole2101cand the jaw pulley coupling hole2101d. The shaft pass-through part2101emay be formed in the form of a hole, and the rotation shaft2145, which is a jaw rotation shaft, may be inserted through the shaft pass-through part2101e.

The second jaw2102includes an anvil2102a, a movable-coupling hole2102c, a jaw pulley coupling hole2102d, and a shaft pass-through part2102e.

The second jaw2102is formed entirely in the shape of an elongated bar, the anvil2102ais formed on the side of a distal end2102f, and the pulley2112is coupled to a proximal end2102g, such that the second jaw2102is formed to be rotatable around the rotation shaft2141.

In detail, the anvil2102ais formed in the form of a flat plane, shapes corresponding to the shapes of staples530to be described below may be formed on one surface of the anvil2102a. The anvil2102amay serve as a support for supporting the staple530on the opposite side of the operation member540when the operation member540pushes and raises the staple530during a stapling motion, such that the staple530is bent.

Meanwhile, the movable-coupling hole2102c, the jaw pulley coupling hole2102d, and the shaft pass-through part2102emay be formed on the side of the proximal end of the second jaw2102.

Here, the movable-coupling hole2102cmay be formed to have a predetermined curvature, and may be formed in an approximately elliptical shape. A shaft coupling portion2121aof the pulley2121to be described below may be fitted into the movable-coupling hole2102c. Here, a short radius of the movable-coupling hole2102cmay be substantially equal to or slightly greater than a radius of the shaft coupling portion2121a. Meanwhile, a long radius of the movable-coupling hole2102cmay be greater than the radius of the shaft coupling portion2121a. Thus, the shaft coupling portion2121ais formed to be movable to a certain extent within the movable-coupling hole2102cin a state in which the shaft coupling portion2121aof the pulley2121is fitted into the movable-coupling hole2102cof the second jaw2102. This will be described in more detail below.

Meanwhile, the jaw pulley coupling hole2102dis formed in the form of a cylindrical hole, and a jaw coupling portion2121bof the pulley2121to be described below may be fitted into the jaw pulley coupling hole2102d. Here, a radius of the jaw pulley coupling hole2102dmay be substantially equal to or slightly greater than a radius of the jaw coupling portion2121b. Thus, the jaw coupling portion2121bof the pulley2121may be formed to be rotatably coupled to the jaw pulley coupling hole2102dof the second jaw2102. This will be described in more detail below.

Meanwhile, the shaft pass-through part2102emay be formed on the side of the distal end2102gof the second jaw2102compared to the movable-coupling hole2102cand the jaw pulley coupling hole2102d. The shaft pass-through part2102emay be formed in the form of a hole, and the rotation shaft2145, which is a jaw rotation shaft, may be inserted through the shaft pass-through part2102e.

The pulley2111, which is a first jaw pulley, may include the shaft coupling portion2111aand the jaw coupling portion2111b. The pulley2111is formed entirely in the form of a rotatable disk, and the shaft coupling portion2111aand the jaw coupling portion2111bmay be formed to protrude to a certain extent from one surface of the pulley2111. As described above, the shaft coupling portion2111aof the pulley2111may be fitted into the movable-coupling hole2101cof the first jaw2101, and the jaw coupling portion2111bof the pulley2111may be fitted into the jaw pulley coupling hole2101dof the first jaw2101. The pulley2111may be formed to be rotatable around the center of the rotation shaft2141, which is an end tool jaw pulley rotation shaft.

Meanwhile, the pulley2121, which is a second jaw pulley, may include the shaft coupling portion2121aand the jaw coupling portion2121b. The pulley2121is formed entirely in the form of a rotatable disk, and the shaft coupling portion2121aand the jaw coupling portion2121bmay be formed to protrude to a certain extent from one surface of the pulley2121. As described above, the shaft coupling portion2112aof the pulley2112may be fitted into the movable-coupling hole2102cof the second jaw2102, and the jaw coupling portion2112bof the pulley2112may be fitted into the jaw pulley coupling hole2102dof the second jaw2102. The pulley2121may be formed to be rotatable around the center of the rotation shaft2141, which is an end tool jaw pulley rotation shaft.

The coupling relationship between the components described above is as follows.

The rotation shaft2141, which is an end tool jaw pulley rotation shaft, is sequentially inserted through the shaft coupling portion2111aof the pulley2111, the movable-coupling hole2101cof the first jaw2101, the shaft pass-through part2181cof the first staple pulley2181, the movable-coupling hole2102cof the second jaw2102, and the shaft coupling portion2121aof the pulley2121.

The rotation shaft2145, which is a jaw rotation shaft, is sequentially inserted through the shaft pass-through part2101eof the first jaw2101and the shaft pass-through part2102eof the second jaw2102.

The shaft coupling portion2111aof the pulley2111is fitted into the movable-coupling hole2101cof the first jaw2101, and the jaw coupling portion2111bof the pulley2111is fitted into the jaw pulley coupling hole2101dof the first jaw2101.

Here, the jaw pulley coupling hole2101dof the first jaw2101and the jaw coupling portion2111bof the pulley2111are axially coupled to each other to be rotatable, and the movable-coupling hole2101cof the first jaw2101and the shaft coupling portion2111aof the pulley2111are movably coupled to each other.

The shaft coupling portion2121aof the pulley2121is fitted into the movable-coupling hole2102cof the second jaw2102, and the jaw coupling portion2121bof the pulley2121is fitted into the jaw pulley coupling hole2102dof the second jaw2102.

Here, the jaw pulley coupling hole2102dof the second jaw2101and the jaw coupling portion2121bof the pulley2121are axially coupled to each other to be rotatable, and the movable-coupling hole2102cof the second jaw2102and the shaft coupling portion2121aof the pulley2121are movably coupled to each other.

Here, the pulley2111and the pulley2121rotate around the rotation shaft2141, which is an end tool jaw pulley rotation shaft. The first jaw2101and the second jaw2102rotate around the rotation shaft2145, which is a jaw rotation shaft. That is, the pulley2111and the first jaw2101differ from each other in rotation shaft. Similarly, the pulley2121and the second jaw2102differ from each other in rotation shaft.

That is, the rotation angle of the first jaw2101is limited to a certain extent by the movable-coupling hole2101c, but is basically rotate around the rotation shaft2145, which is a jaw rotation shaft. Similarly, the rotation angle of the second jaw2102is limited to a certain extent by the movable-coupling hole2102c, but is basically rotate around the rotation shaft2145, which is a jaw rotation shaft.

Amplification of grip force due to the coupling relationship between the above-described components will be described.

In the surgical instrument2000according to an embodiment of the present disclosure, the coupling structure of the first jaw2101and the second jaw2102forms an X-shaped structure, and thus, when the first jaw2101and the second jaw2102rotate in directions in which they approach to each other close (i.e., when the first jaw2101and the second jaw2102are closed), the grip force becomes stronger in a direction in which the first jaw2101and the second jaw2102are closed. This will be described in more detail as follows.

As described above, in motions of opening and closing the first jaw2101and the second jaw2102, there are two shafts that are the center of rotation of the jaws. That is, the first jaw2101and the second jaw2102perform opening and closing motions around two shafts, which are the rotation shaft2141and the rotation shaft2145. Here, the center of rotation of the first jaw2101and the second jaw2102is the rotation shaft2145, and the center of rotation of the pulley2111and the pulley2121is the rotation shaft2141. Here, the rotation shaft2141is a shaft whose position is relatively fixed, and the rotation shaft2145is a shaft whose position linearly moves. In other words, when the pulley2111and the pulley2121rotate in a state in which the position of the rotation shaft2141is fixed, the first jaw2101and the second jaw2102are opened/closed as the rotation shaft2145, which is the rotation shaft of the first jaw2101and the second jaw2102, moves backward and forward.

With this configuration, the grip force becomes stronger when the first jaw2101and the second jaw2102are closed, thereby enabling a surgical operator to perform the actuation motion powerfully even with a weak force.

Hereinafter, the cartridge500of the surgical instrument2000ofFIG.2will be described in more detail.

FIG.27is a perspective view illustrating the first jaw and a cartridge of the surgical instrument ofFIG.2.FIG.28is an exploded perspective view illustrating the cartridge ofFIG.27.FIG.29is a combined perspective view illustrating the cartridge ofFIG.27.FIG.30is a side view illustrating the cartridge ofFIG.27.FIG.31is a perspective cross-sectional view illustrating the cartridge ofFIG.27.FIG.32is a side cross-sectional view illustrating the cartridge ofFIG.27.FIGS.33and34are perspective views illustrating an operation member of the cartridge ofFIG.27.FIG.35is a side cross-sectional view illustrating a stapling-related structure of the end tool of the surgical instrument ofFIG.2.FIGS.36and37are perspective cross-sectional views illustrating a stapling structure of the end tool of the surgical instrument ofFIG.2.FIGS.38to41are perspective views illustrating a ratchet drive operation of the end tool ofFIG.30.FIGS.42and43are plan views illustrating a ratchet drive operation of the end tool ofFIG.36.FIG.44is a perspective view illustrating an entire ratchet drive operation of the end tool ofFIG.36.FIGS.45and46are perspective views illustrating an entire stapling motion of the end tool ofFIG.36.

Referring toFIGS.27to46and the like, the cartridge500is formed to be mountable to and dismountable from the first jaw2101, and includes a plurality of staples530and a blade542therein to perform suturing and cutting of tissue. Here, the cartridge500may include a cover510, a housing520, the staples530, withdrawal members535, the operation member540, and the reciprocating assembly550.

The housing520forms an outer shape of the cartridge500, and may be formed entirely in the form of a hollow box with one surface (upper surface) thereof is removed to accommodate the reciprocating assembly550, the operation member540, and the staple530therein. Here, the housing520may be formed in an approximately “U” shape in cross section.

The cover510is formed to cover an upper portion of the housing520. Staple holes511through which the plurality of staples530may be ejected to the outside may be formed in the cover510. As the staples530, which are accommodated inside the housing520before a stapling operation, are pushed and raised upward by the operation member540during a stapling motion, and pass through the staple holes511of the cover510to be withdrawn to the outside of the cartridge500, stapling is performed.

Meanwhile, a slit512may be formed in the cover510along a length direction of the cover510. The blade542of the operation member540may protrude out of the cartridge500through the slit512. As the blade542of the operation member540passes along the slit512, staple-completed tissue may be cut.

The plurality of staples530may be disposed inside the housing520. As the operation member540, which will be described later, is linearly moved in one direction, the plurality of staples530are sequentially pushed and raised from the inside of the housing520to the outside, thereby performing sealing, that is, stapling. Here, the staples530may be made of a material that may include titanium, stainless steel, or the like.

Meanwhile, the withdrawal member535may be further disposed between the housing520and the staple530. In other words, it may be said that the staple530is disposed above the withdrawal member535. In this case, the operation member540is linearly moved in one direction to push and raise the withdrawal member535, and the withdrawal member535may push and raise the staple530.

As such, the operation member540may be described as pushing and raising the staples530in both the case in which the operation member540directly pushes and raises the staples530and the case in which the operation member540pushes and raises the withdrawal members535and the withdrawal members535pushes and raises the staples530(i.e., the operation member540indirectly pushes and raises the staples530).

The reciprocating assembly550may be disposed at an inner lower side of the housing520. The reciprocating assembly550may include one or more reciprocating members551. In the present embodiment, it is illustrated that one reciprocating member551is provided, but in embodiments to be described later, a plurality of reciprocating members551may be provided.

In the present embodiment, the reciprocating member551may be a rack. The reciprocating member551may include recesses551band the coupling part551a. In detail, the reciprocating member551may be formed in the form of an elongated bar, and a plurality of recesses551bhaving a sawtooth shape may be formed on one surface thereof. The recess551bmay be formed to be in contact with the operation member540to be described later, in particular, a ratchet member543of the operation member540. In other words, the reciprocating member551may include the plurality of recesses551bshaped to engage with ratchets543aof the ratchet member543.

Meanwhile, although not shown in the drawings, in addition to a rack shape, the reciprocating member551may be provided as various shapes of members, which are directly or indirectly connected to the staple pulley assembly2160and may perform a linear reciprocating motion according to a rotational motion of the staple pulley assembly2160. For example, the reciprocating member551may be in the form of a clutch in which recesses are not present.

Here, the reciprocating member551is not fixedly coupled to the other components of the cartridge500, and may be formed to be movable relatively to the other components of the cartridge500. That is, the reciprocating member551may perform a reciprocating linear motion with respect to the housing520and the cover510coupled to the housing520.

Meanwhile, in the reciprocating member551, the coupling part551amay be formed at the proximal end501side adjacent to the pulley2111, and the coupling part551amay be fastened and coupled to the staple link assembly2170of the end tool2100. Thus, when the staple link assembly2170performs a reciprocating linear motion in the extension direction (i.e., the Y-axis direction) of the connection part400, the reciprocating member551coupled thereto may also perform a reciprocating linear motion in the extension direction (i.e., the Y-axis direction) of the connection part400. This will be described in more detail later.

The operation member540may be disposed inside the housing520. The operation member540is formed to be in contact with the reciprocating member551, and may be formed to linearly move in one direction according to the reciprocating linear motion of the reciprocating member551. In other words, the operation member540interacts with the reciprocating member551to perform stapling and cutting motions while moving in the extension direction of the connection part400.

The operation member540may include a wedge541, the blade542, the ratchet member543, an elastic member544, and a body545.

The body545may be formed in the shape of an elongated square column, and forms a base of the operation member540.

The wedge541is formed on at least one side of the body545, and may be formed to have a predetermined inclined surface. That is, the wedge541may be formed to be inclined to a certain extent in the extension direction of the connection part400. In other words, the wedge541may be formed to have a greater height at a proximal end501side of the cartridge500than a distal end502side of the cartridge500. In the drawing, it is illustrated that two wedges541are formed on each side of the body545, but the concept of the present disclosure is not limited thereto, and the wedge541may be formed in various numbers and shapes depending on the shape of the staple530or the withdrawal member535that is in contact with the wedge541.

The wedge541may be formed to be in contact with the withdrawal members535or the plurality of staples530in turn and may serve to sequentially push and raise the staples530. As shown inFIG.40to be described later and elsewhere herein, the operation member540may serve to withdraw the staples530to the outside of the cartridge500by sequentially pushing and raising the staples530while moving toward the distal end502

The blade542may be formed on one side of the wedge541, more specifically, on one side of the wedge541at the proximal end501side. An edge542aformed to be sharp to cut tissue is formed in one region of the blade542. As at least a portion of the edge542ais withdrawn to the outside of the first jaw2101and the cartridge500, tissue disposed between the first jaw2101and the second jaw2102may be cut. The edge542aof the blade542may be always withdrawn to the outside of the first jaw2101. Alternatively, the edge542aof the blade542may normally be accommodated inside the first jaw2101or inside the cartridge500, and may be withdrawn to the outside of the first jaw2101only when the operation member540is moved in a length direction.

The ratchet member543is formed on one side of the wedge541, more specifically, below wedge541, and may be formed to face the reciprocating member551to be described later. The ratchet member543may be formed in the form of a bar and may include a plurality of ratchets543aon one surface. The operation member540is moved only in one direction (i.e., toward the distal end) with respect to the reciprocating member551by the ratchet member543. The ratchets543aof the ratchet member543may be formed to be in contact with the recess551bof the reciprocating member551described above.

The elastic member544is formed on one side of the body545or the wedge541and serves to apply a predetermined elastic force to the ratchet member543. In an example, one region of the elastic member544may be connected to the wedge541or the body545, and another region of the elastic member544may be connected to the ratchet member543, so that the elastic member544may connect the wedge541or the body545to the ratchet member543. Here, the elastic member544may apply an elastic force in a direction in which the ratchet member543comes into close contact with the reciprocating member551. To this end, the elastic member544may be formed in the form of a leaf spring, and may be provided in various forms capable of providing a predetermined elastic force to the ratchet member543, such as a coil spring, a dish spring, and the like.

Here, the ratchet543aof the ratchet member543may be formed such that a first surface543al(specifically, at the distal end502side) is formed to have a gentle slope with a predetermined angle, and a second surface543a2(specifically, at the proximal end501side) is formed to be vertical or near vertical.

In addition, in order to be engaged with the ratchet543aof the ratchet member543, the recess551bof the reciprocating member551may also be formed such that a first surface551b1(specifically, at the distal end502side) is formed to have a gentle slope with a predetermined angle, and a second surface551b2(specifically, at the proximal end501side) is formed to be vertical or near vertical.

In a state in which the reciprocating member551and the ratchet member543are coupled to each other (or engaged or in close contact with each other), the inclined first surface543alof the ratchet543aand the inclined first surface551b1of the recess551bmay be formed to face each other (that is, in contact with each other). In addition, the vertically formed second surface543a2of the ratchet543aand the vertically formed second surface551b2of the recess551bmay be disposed to face each other (i.e., in contact with each other).

With this configuration, in a state in which the ratchet543aand the recess551bare coupled to (or engaged with) each other, the ratchet543aand the recess551bmay be allowed to move only in one direction, acting as a kind of ratchet.

In an example, when it is assumed that the reciprocating member551is in a fixed state, the operation member540is movable in a direction in which the second surface543a2and the second surface551b2, which are vertically formed, are away from each other, but when the second surface543a2and the second surface551b2are in contact with each other, the operation member540is not movable in a direction in which the second surface543a2and the second surface551b2are closer to each other.

In other words, when the reciprocating member551is moved toward the distal end502in a state in which the reciprocating member551and the ratchet member543are coupled to each other (or engaged or in close contact with each other), the ratchet member543is moved together toward the distal end502by the reciprocating member551. That is, the vertically formed second surface551b2of the reciprocating member551pushes the vertically formed second surface543a2of the operation member540such that the ratchet member543is moved together toward the distal end502by the reciprocating member551.

In contrast, when the reciprocating member551is moved toward the proximal end501in a state in which the reciprocating member551and the ratchet member543are coupled to each other (or engaged or in close contact with each other), only the reciprocating member551is moved alone toward the proximal end501while the ratchet member543a fixed. That is, the inclined first surface551b1of the reciprocating member551is moved along the inclined first surface543alof the operation member540in a state in which the operation member540is fixed, so that only the reciprocating member551is moved alone toward the proximal end501.

Referring toFIGS.34to37, when the reciprocating member551is moved toward (in the direction of an arrow K1ofFIGS.35and37) of the proximal end501in the state ofFIGS.34and36, as the inclined first surface551b1of the reciprocating member551is moved along the inclined first surface543alof the operation member540, the ratchet member543is pushed as a whole in the direction of an arrow K2ofFIG.35. In addition, at this time, the elastic member544is elastically deformed to a certain extent.

In this state, when the reciprocating member551is further moved toward the proximal end501, and the inclined first surface551b1of the reciprocating member551is moved beyond an end of the inclined first surface543alof the operation member540, the recess551bof the reciprocating member551meets the next ratchet543aof the ratchet member543. In this case, since the elastic member544applies an elastic force in a direction in which the ratchet member543comes into close contact with the reciprocating member551, front surfaces of the reciprocating member551and the ratchet member543are brought into close contact with each other again.

As a result, the cartridge500is accommodated in the cartridge accommodation part2101aof the first jaw2101, and in this case, the reciprocating member551of the cartridge500is coupled to the staple link assembly2170of the end tool2100. Accordingly, the rotational motion of the first staple pulley2181of the end tool100is converted into a linear motion of the reciprocating member551through the staple link assembly2170.

In this case, when the coupling part551aof the reciprocating member551is connected to the staple pulley assembly2160through the staple link assembly2170, and the first staple pulley2181and the second staple pulley2191of the staple pulley assembly2160is rotated alternately in the clockwise/counterclockwise directions, the reciprocating member551may be repeatedly moved forward and backward. In addition, when the reciprocating member551is moved forward, the operation member540may be moved forward together with the reciprocating member551, and when the reciprocating member551is moved backward, only the reciprocating member551may be moved backward and the operation member540may remain stationary in place. As the operation member540is moved forward while repeating this process, the staple530may be stapled by the wedge541while the blade542cuts stapled tissue.

This will be described in more detail as follows.

Referring toFIG.44, a method of driving a surgical instrument according to an embodiment of the present disclosure is described as follows.

First, when the first staple pulley2181rotates in the clockwise direction and the second staple pulley2191rotates in the counterclockwise direction, the staple link assembly2170connected to the staple pulley assembly2160and the reciprocating assembly550of the cartridge500connected to the staple link assembly2170move toward a distal end502of the cartridge500.

In addition, when the reciprocating assembly550moves toward the distal end502of the cartridge500, the operation member540in contact with the reciprocating assembly550moves toward the distal end502of the cartridge500together with the reciprocating assembly550.

In addition, as the operation member540moves toward the distal end502of the cartridge500, the blade542of the operation member540moves toward the distal end502of the cartridge500while the operation member540ejects the staples530out of the cartridge500.

Meanwhile, when the first staple pulley2181rotates in the counterclockwise direction and the second staple pulley2191rotates in the clockwise direction, the staple link assembly2170connected to the staple pulley assembly2160and the reciprocating assembly550of the cartridge500connected to the staple link assembly2170move toward a proximal end501of the cartridge500, and at this time, the operation member540remains stationary.

In addition, as the above operations are repeatedly performed, a stapling motion by the wedge541and a cutting motion by the blade542are simultaneously performed.

This will be described in more detail as follows.

First, in the state illustrated in (a) ofFIG.44, when the first staple pulley2181rotates in the direction of an arrow A1(i.e., the clockwise direction), and the second staple pulley2191rotates in the direction of an arrow B1(i.e., the counterclockwise direction) as illustrated in (b) ofFIG.44, the staple link assembly2170connected thereto and the reciprocating member551coupled to the staple link assembly2170move in the direction of an arrow C1(i.e., toward the distal end). In this state, the reciprocating member551and the operation member540are in close contact with each other by the elastic member (see544ofFIG.43), and thus, when the reciprocating member551moves in the direction of the arrow C1, the operation member540also moves in the direction of the arrow C1together with the reciprocating member551.

Meanwhile, when the first staple pulley2181rotates in the direction of an arrow A2(i.e., the counterclockwise direction), and the second staple pulley2191rotates in the direction of an arrow B2(i.e., the clockwise direction) as illustrated in (c) ofFIG.44, the staple link assembly2170connected thereto and the reciprocating member551coupled to the staple link assembly2170move in the direction of an arrow C2(i.e., toward the proximal end). In this state, due to the coupling structure of the ratchet member543and the reciprocating member551, even when the reciprocating member551moves in the direction of the arrow C2, only the ratchet member543is repeatedly spaced apart from and in contact with the reciprocating member551to a certain extent as the elastic member544is repeatedly elastically deformed and restored in a state in which the overall position of the operation member540remains unchanged (seeFIGS.41and43). That is, even when the reciprocating member551moves in the direction of the arrow C2, the operation member540remains stationary in place when viewed in the X-axis direction.

When the first staple pulley2181further rotates in the direction of an arrow A3and the second staple pulley2191further rotates in the direction of an arrow B3as illustrated in (d) ofFIG.44, only the staple link assembly2170and the reciprocating member551connected thereto further move in the direction of an arrow C3.

In this state, when the first staple pulley2181stops rotating, as illustrated in (a) ofFIG.44, the staple link assembly2170, the reciprocating member551, and the operation member540also stop moving.

When the first staple pulley2181and the second staple pulley2191alternately rotate in the clockwise/counterclockwise directions while repeating the above process, the reciprocating member551repeatedly moves forward and backward, and the operation member540repeatedly moves forward and stops, and as a result, the operation member540moves toward the distal end502. In addition, as the operation member540moves toward the distal end502, a stapling motion by the wedge541and a cutting motion by the blade542are simultaneously performed.

Hereinafter, a stapling motion of the surgical instrument according to an embodiment of the present disclosure will be described.

FIG.45is a perspective view illustrating a stapling motion of the end tool ofFIG.36for each section, andFIG.46is a perspective view illustrating an entire stapling motion of the end tool ofFIG.36.

Referring toFIGS.45and46, in the state illustrated in (a) ofFIG.45, as the operation member540moves in the direction of an arrow A1of (b) ofFIG.45, the wedge541of the operation member540pushes and raises the withdrawal member535, and the withdrawal member535pushes and raises one side of a lower portion of the staple530. In addition, accordingly, the staple530is ejected to the outside of the first jaw2101and the cartridge500.

In this state, when the operation member540further moves in the direction of an arrow A2of (c) ofFIG.45, the ejected staple530is continuously pushed and raised by the operation member540while being in contact with the anvil2102aof the second jaw2102, such that stapling is performed while both ends of the staple530are bent.

As such motions are continuously performed, stapling is sequentially performed from the staple530on the side of the proximal end501to the staple530on the side of the distal end502among the plurality of staples530, as illustrated inFIG.46.

FIGS.47and48are perspective views illustrating the manipulation part of the surgical instrument ofFIG.2.FIG.49is a view schematically illustrating only a configuration of pulleys and wires constituting joints of the surgical instrument illustrated inFIG.2.

Referring toFIGS.2to49, the manipulation part200of the surgical instrument2000according to the first embodiment of the present disclosure includes a first handle204that a user can grip, the actuation manipulation part203configured to control an actuation motion of the end tool2100, the yaw manipulation part202configured to control a yaw motion of the end tool2100, and the pitch manipulation part201configured to control a pitch motion of the end tool2100. Here, it is understood that only the components related to the pitch/yaw/actuation motions of the surgical instrument2000are illustrated inFIGS.41and42.

In addition, the manipulation part200of the surgical instrument2000may further include a staple manipulation part260configured to control the motion of the staple pulley assembly160of the end tool2100to perform stapling and cutting motions.

The manipulation part200may include the pulley210, a pulley211, a pulley212, a pulley213, a pulley214, a pulley215, a pulley216, a pulley217, and a pulley218that are related to a rotational motion of the first jaw2101. In addition, the manipulation part200may include the pulley220, a pulley221, a pulley222, a pulley223, a pulley224, a pulley225, a pulley226, a pulley227, and a pulley228that are related to a rotational motion of the second jaw2102. In addition, the manipulation part200may include the pulley231, the pulley232, a pulley233, and a pulley234that are related to a pitch motion thereof. In addition, the manipulation part200may include a pulley235, which is a relay pulley disposed at some places along the bent part402of the connection part400.

Here, the pulleys facing each other are illustrated in the drawings as being formed parallel to each other, but the concept of the present disclosure is not limited thereto, and each of the pulleys may be variously formed with a position and a size suitable for the configuration of the manipulation part.

Further, the manipulation part200of the first embodiment of the present disclosure may include a rotation shaft241, a rotation shaft242, the rotation shaft243, a rotation shaft244, a rotation shaft245, and the rotation shaft246. Here, the rotation shaft241may function as a manipulation part first jaw actuation rotation shaft, and the rotation shaft242may function as a manipulation part second jaw actuation rotation shaft. In addition, the rotation shaft243may function as a manipulation part yaw main rotation shaft, and the rotation shaft244may function as a manipulation part yaw sub-rotation shaft. In addition, the rotation shaft245may function as a manipulation part pitch sub-rotation shaft, and the rotation shaft246may function as a manipulation part pitch main rotation shaft.

The rotation shaft241/rotation shaft242, the rotation shaft243, the rotation shaft244, the rotation shaft245, and the rotation shaft246may be sequentially disposed from a distal end205of the manipulation part200toward a proximal end206.

Each of the rotation shafts241,242,243,244,245, and246may be fitted into one or more pulleys, which will be described in detail later.

The pulley210functions as a manipulation part first jaw actuation pulley, the pulley220functions as a manipulation part second jaw actuation pulley, and these components may also be collectively referred to as a manipulation part actuation pulley.

The pulley211and the pulley212function as manipulation part first jaw yaw main pulleys, the pulley221and the pulley222function as manipulation part second jaw yaw main pulleys, and these components may also be collectively referred to as a manipulation part yaw main pulley.

The pulley213and the pulley214function as manipulation part first jaw yaw sub-pulleys, the pulley223and the pulley224function as manipulation part second jaw yaw sub-pulleys, and these components may also be collectively referred to as a manipulation part yaw sub-pulley.

The pulley215and the pulley216function as manipulation part first jaw pitch sub-pulleys, the pulley225and the pulley226function as manipulation part second jaw pitch sub-pulleys, and these components may also be collectively referred to as a manipulation part pitch sub-pulley.

The pulley217and the pulley218function as manipulation part first jaw pitch main pulleys, and the pulley227and the pulley228function as manipulation part second jaw pitch main pulleys, and these components may also be collectively referred to as the manipulation part pitch main pulley.

The pulley231and the pulley232function as manipulation part pitch wire main pulleys, and the pulley233and the pulley234function as manipulation part pitch wire sub-pulleys.

The above components are categorized from the perspective of the manipulation part for each motion (pitch/yaw/actuation) as follows.

The pitch manipulation part201configured to control a pitch motion of the end tool2100may include the pulley215, the pulley216, the pulley217, the pulley218, the pulley225, the pulley226, the pulley227, the pulley228, the pulley231, the pulley232, and the pulley234. In addition, the pitch manipulation part201may include the rotation shaft245and the rotation shaft246. In addition, the pitch manipulation part201may further include a pitch frame208.

The yaw manipulation part202configured to control a yaw motion of the end tool2100may include the pulley211, the pulley212, the pulley213, the pulley214, the pulley221, the pulley222, the pulley223, and the pulley224. In addition, the yaw manipulation part202may include the rotation shaft243and the rotation shaft244. In addition, the yaw manipulation part202may further include a yaw frame207.

The actuation manipulation part203configured to control an actuation motion of the end tool2100may include the pulley210, the pulley220, the rotation shaft241, and the rotation shaft242. In addition, the actuation manipulation part203may further include the first actuation manipulation part251and the second actuation manipulation part256.

Hereinafter, each component of the manipulation part200will be described in more detail.

The first handle204may be formed to be gripped by a user with the hand, and in particular, may be formed to be grasped by the user by wrapping the first handle204with his/her palm. In addition, the actuation manipulation part203and the yaw manipulation part202are formed on the first handle204, and the pitch manipulation part201is formed on one side of the yaw manipulation part202. In addition, the other end portion of the pitch manipulation part201is connected to the bent part402of the connection part400.

The actuation manipulation part203includes the first actuation manipulation part251and the second actuation manipulation part256. The first actuation manipulation part251includes the rotation shaft241, the pulley210, the first actuation extension part252, and a first actuation gear253. The second actuation manipulation part256includes the rotation shaft242, the pulley220, the second actuation extension part257, and a second actuation gear258. Here, end portions of the first actuation extension part252and the second actuation extension part257are formed in the shape of a hand ring, which may act as a second handle.

Here, the rotation shaft241and the rotation shaft242, which are actuation rotation axes, may be formed to form a predetermined angle with an XY plane on which the connection part400is formed. For example, the rotation shaft241and the rotation shaft242may be formed in a direction parallel to the Z-axis, and in this state, when the pitch manipulation part201or the yaw manipulation part202is rotated, the coordinate system of the actuation manipulation part203may change relatively. Of course, the concept of the present disclosure is not limited thereto, and the rotation shaft241and the rotation shaft242may be formed in various directions so as to be suitable for a structure of the hand of the user gripping the actuation manipulation part203according to an ergonomic design.

Meanwhile, the pulley210, the first actuation extension part252, and the first actuation gear253are fixedly coupled to each other to be rotatable together around the rotation shaft241. Here, the pulley210may be configured to be a single pulley or two pulleys fixedly coupled to each other.

Similarly, the pulley220, the second actuation extension part257, and the second actuation gear258are fixedly coupled to each other to be rotatable together around the rotation shaft242. Here, the pulley220may be configured to be a single pulley or two pulleys fixedly coupled to each other.

Here, the first actuation gear253and the second actuation gear258are formed to be engaged with each other such that, when any one gear is rotated in one direction, the other gear is rotated together in a direction opposite to the one direction.

The yaw manipulation part202may include the rotation shaft243, the pulleys211and212, which are manipulation part first jaw yaw main pulleys, the pulleys221and222, which are manipulation part second jaw yaw main pulleys, and the yaw frame207. In addition, the yaw manipulation part202may further include the pulleys213and214, which are manipulation part first jaw yaw sub-pulleys formed on one side of the pulleys211and212, and the pulleys223and224that are manipulation part second jaw yaw sub-pulleys formed on one side of the pulleys221and222. Here, the pulleys213and214and the pulleys223and224may be coupled to the pitch frame208to be described later.

Here, it is illustrated in the drawings that the yaw manipulation part202includes the pulleys211and212and the pulleys221and222, wherein the pulleys211and212and the pulleys221and222are each provided with two pulleys formed to face each other and independently rotatable, but the concept of the present disclosure is not limited thereto. That is, one or more pulleys having the same diameter or different diameters may be provided according to the configuration of the yaw manipulation part202.

In detail, the rotation shaft243, which is a manipulation part yaw main rotation shaft, is formed on one side of the actuation manipulation part203on the first handle204. At this time, the first handle204is formed to be rotatable around the rotation shaft243.

Here, the rotation shaft243may be formed to form a predetermined angle with the XY plane on which the connection part400is formed. For example, the rotation shaft243may be formed in a direction parallel to the Z-axis, and in this state, when the pitch manipulation part201is rotated, the coordinate system of the rotation shaft243may change relatively as described above. Of course, the concept of the present disclosure is not limited thereto, and the rotation shaft243may be formed in various directions so as to be suitable for a structure of the hand of the user gripping the manipulation part200according to an ergonomic design.

Meanwhile, the pulleys211and212and the pulleys221and222are coupled to the rotation shaft243so as to be rotatable around the rotation shaft243. In addition, the wire301or the wire305, which is a first jaw wire, is wound around the pulleys211and212, and the wire302or the wire306, which is a second jaw wire, may be wound around the pulleys221and222. In this case, the pulleys211and212and the pulleys221and222may each be configured as two pulleys formed to face each other and independently rotatable. Accordingly, a wire being wound and a wire being released may be wound around respective separate pulleys so that the wires may perform motions without interference with each other.

The yaw frame207rigidly connects the first handle204, the rotation shaft241, the rotation shaft242, and the rotation shaft243, so that the first handle204, the yaw manipulation part202, and the actuation manipulation part203are integrally yaw-rotated around the rotation shaft243.

The pitch manipulation part201may include the rotation shaft246, the pulley217and the pulley218, which are manipulation part first jaw pitch main pulleys, the pulleys227and228, which are manipulation part second jaw pitch main pulleys, and the pitch frame208. In addition, the pitch manipulation part201may further include the rotation shaft245, the pulleys215and216, which are manipulation part first jaw pitch sub-pulleys formed on one side of the pulley217and the pulley218, and the pulleys225and226, which are manipulation part second jaw pitch sub-pulleys formed on one side of the pulley227and the pulley228. The pitch manipulation part201may be connected to the bent part402of the connection part400through the rotation shaft246.

In detail, the pitch frame208is a base frame of the pitch manipulation part201, and the rotation shaft243is rotatably coupled to one end portion thereof. That is, the yaw frame207is formed to be rotatable around the rotation shaft243with respect to the pitch frame208.

As described above, since the yaw frame207connects the first handle204, the rotation shaft243, the rotation shaft241, and the rotation shaft242, and the yaw frame207is also axially coupled to the pitch frame208, when the pitch frame208is pitch-rotated around the rotation shaft246, the yaw frame207connected to the pitch frame208, the first handle204, the rotation shaft241, the rotation shaft242, and the rotation shaft243are pitch-rotated together. That is, when the pitch manipulation part201is rotated around the rotation shaft246, the actuation manipulation part203and the yaw manipulation part202are rotated together with the pitch manipulation part201. In other words, when a user pitch-rotates the first handle204around the rotation shaft246, the actuation manipulation part203, the yaw manipulation part202, and the pitch manipulation part201are moved together.

The pulleys217and218and the pulleys227and228are coupled to the rotation shaft246so as to be rotatable around the rotation shaft246of the pitch frame208.

Here, the pulley217and the pulley218may be formed to face each other so as to be independently rotatable. Accordingly, a wire being wound and a wire being released may be wound around respective separate pulleys so that the wires may perform motions without interference with each other. Similarly, the pulley227and the pulley228may also be formed to face each other so as to be independently rotatable. Accordingly, a wire being wound and a wire being released may be wound around respective separate pulleys so that the wires may perform motions without interference with each other.

Next, a motion of each of the wires303and304, which are pitch wires, is described as follows.

The pulley2131, which is an end tool pitch pulley, is fixedly coupled to the end tool hub2106in the end tool2100, and the pulley231and the pulley232, which are manipulation part pitch pulleys, are fixedly coupled to the pitch frame208in the manipulation part200. In addition, these pulleys are connected to each other by the wires303and304, which are pitch wires, so that a pitch motion of the end tool2100may be performed more easily according to the pitch manipulation of the manipulation part200. Here, the wire303is fixedly coupled to the pitch frame208via the pulley231and the pulley233, and the wire304is fixedly coupled to the pitch frame208via the pulley232and the pulley234. That is, the pitch frame208and the pulleys231and232are rotated together around the rotation shaft246by the pitch rotation of the manipulation part200, and as a result, the wires303and304are also moved, and thus, a driving force of additional pitch rotation may be transmitted separately from the pitch motion of the end tool by the wire301, the wire302, the wire305, and the wire306, which are jaw wires.

A connection relationship of each of the first handle204, the pitch manipulation part201, the yaw manipulation part202, and the actuation manipulation part203is summarized as follows. The rotation shafts241and242, the rotation shaft243, the rotation shaft244, the rotation shaft245, and the rotation shaft246may be formed on the first handle204. In this case, since the rotation shafts241and242are directly formed on the first handle204, the first handle204and the actuation manipulation part203may be directly connected to each other. Meanwhile, since the rotation shaft243is directly formed on the first handle204, the first handle204and the yaw manipulation part202may be directly connected to each other. On the other hand, since the pitch manipulation part201is formed on one side of the yaw manipulation part202so as to be connected to the yaw manipulation part202, the pitch manipulation part201is not directly connected to the first handle204, and the pitch manipulation part201and the first handle204may be formed to be indirectly connected to each other via the yaw manipulation part202.

Continuing to refer to the drawings, in the surgical instrument2000according to the first embodiment of the present disclosure, the pitch manipulation part201and the end tool2100may be formed on the same or parallel axis (X-axis). That is, the rotation shaft246of the pitch manipulation part201is formed at one end portion of the bent part402of the connection part400, and the end tool2100is formed at the other end portion of the connection part400.

In addition, one or more relay pulleys235configured to change or guide paths of the wires may be disposed at some places along the connection part400, particularly in the bent part402. As at least some of the wires are wound around the relay pulleys235to guide the paths of the wires, these wires may be disposed along a bent shape of the bent part402.

Here, in the drawings, it is illustrated that the connection part400is formed to be curved with a predetermined curvature by having the bent part402, but the concept of the present disclosure is not limited thereto, and the connection part400may be formed linearly or to be bent one or more times as necessary, and even in this case, it may be said that the pitch manipulation part201and the end tool2100are formed on substantially the same axis or parallel axes. In addition, althoughFIG.3illustrates that each of the pitch manipulation part201and the end tool2100is formed on an axis parallel to the X-axis, the concept of the present disclosure is not limited thereto, and the pitch manipulation part201and the end tool2100may be formed on different axes.

The staple manipulation part260is connected to the first staple pulley2181of the end tool2100by the wires307and308, which are first staple wires, and serves to alternately rotate the first staple pulley2181in the clockwise or counterclockwise direction. The staple manipulation part260is connected to the second staple pulley2191of the end tool2100by the wires309and310, which are second staple wires, and serves to alternately rotate the second staple pulley2191in the counterclockwise or clockwise direction.

To this end, although not shown in the drawings, the staple manipulation part260may include a motor (not shown). That is, the motor (not shown) is driven while the user presses the staple manipulation part260formed in the form of a button to alternately rotate the manipulation part staple pulley (see269ofFIG.47) in the clockwise or counterclockwise direction. In addition, due thereto, the first staple pulley2181and the second staple pulley2191of the end tool2100may be alternately rotated in the clockwise or counterclockwise direction.

Actuation, yaw, and pitch motions in the present embodiment will be described as follows.

First, the actuation motion will be described below.

In a state in which a user inserts his/her index finger in the hand ring formed on the first actuation extension part252and his/her thumb in the hand ring formed on the second actuation extension part257, when the user rotates the actuation rotation parts252and257using one or both of his/her index finger and thumb, the pulley210and the first actuation gear253fixedly coupled to the first actuation extension part252are rotated around the rotation shaft241, and the pulley220and the second actuation gear258fixedly coupled to the second actuation extension part257are rotated around the rotation shaft242. At this time, the pulley210and the pulley220are rotated in opposite directions, and thus the wires301and305fixedly coupled to the pulley210at one end portion thereof and the wires302and306fixedly coupled to the pulley220at one end portion thereof are also moved in opposite directions. In addition, a rotating force is transmitted to the end tool2100through the power transmission part300, and two jaws2103of the end tool2100perform an actuation motion.

Here, as described above, the actuation motion refers to a motion in which the two jaws2101and2102are splayed or closed while being rotated in opposite directions. That is, when the actuation rotation parts252and257of the actuation manipulation part203are rotated in directions close to each other, the first jaw2101is rotated in the counterclockwise direction, and the second jaw2102is rotated in the clockwise direction, thereby closing the end tool2100. That is, when the actuation rotation parts252and257of the actuation manipulation part203are rotated in directions away from each other, the first jaw121is rotated in the counterclockwise direction, and the second jaw122is rotated in the clockwise direction, thereby opening the end tool2100.

In the present embodiment, for the actuation manipulation described above, the first actuation extension part252and the second actuation extension part257are provided to configure the second handle and manipulated by gripping the second handle with two fingers. However, for the actuation manipulation in which the two jaws of the end tool2100are opened or closed, the actuation manipulation part203may be configured in a manner different from the above-described manner, such as configuring the two actuation pulleys (the pulley210and the pulley220) to act in opposition to each other with an actuation rotation part.

Next, the yaw motion will be described below.

When a user rotates the first handle204around the rotation shaft243while holding the first handle204, the actuation manipulation part203and the yaw manipulation part202are yaw-rotated around the rotation shaft243. That is, when the pulley210of the first actuation manipulation part251to which the wires301and305are fixedly coupled is rotated around the rotation shaft243, the wires301and305wound around the pulleys211and212are moved. Similarly, when the pulley220of the second actuation manipulation part256, to which the wires302and306are fixedly coupled, is rotated around the rotation shaft243, the wires302and306wound around the pulleys221and222are moved. At this time, the wires301and305connected to the first jaw2101and the wires302and306connected to the second jaw2102are wound around the pulleys211and212and the pulleys221and222, so that the first jaw2101and the second jaw2102are rotated in the same direction during yaw rotation. In addition, a rotating force is transmitted to the end tool2100through the power transmission part300, and thus a yaw motion in which two jaws2103of the end tool2100are rotated in the same direction is performed.

At this time, since the yaw frame207connects the first handle204, the rotation shaft241, the rotation shaft242, and the rotation shaft243, the first handle204, the yaw manipulation part202, and the actuation manipulation part203are rotated together around the rotation shaft243.

Next, the pitch motion will be described below.

When a user rotates the first handle204around the rotation shaft246while holding the first handle204, the actuation manipulation part203, the yaw manipulation part202, and the pitch manipulation part201are pitch-rotated around the rotation shaft246. That is, when the pulley210of the first actuation manipulation part251to which the wires301and305are fixedly coupled is rotated around the rotation shaft246, the wires301and305wound around the pulley217and the pulley218are moved. Similarly, when the pulley220of the second actuation manipulation part256, to which the wires302and306are fixedly coupled, is rotated around the rotation shaft246, the wires302and306wound around the pulley227and the pulley228are moved. At this time, as described with reference toFIG.5, in order to allow the first jaw2101and the second jaw2102to pitch-rotate, the wires301and305, which are first jaw wires, are moved in the same direction and respectively wound around the pulley217and the pulley218, which are manipulation part pitch main pulleys, and the wires302and306, which are second jaw wires, are moved in the same direction and respectively wound around the pulley227and the pulley228, which are manipulation part pitch main pulleys. In addition, a rotating force is transmitted to the end tool2100through the power transmission part300, and two jaws103of the end tool2100perform a pitch motion.

At this time, since the pitch frame208is connected to the yaw frame207, and the yaw frame207connects the first handle204, the rotation shaft241, the rotation shaft242, and the rotation shaft243, when the pitch frame208is rotated around the rotation shaft246, the yaw frame207, the first handle204, the rotation shaft241, the rotation shaft242, and the rotation shaft243connected to the pitch frame208are rotated together. That is, when the pitch manipulation part201is rotated around the rotation shaft246, the actuation manipulation part203and the yaw manipulation part202are rotated together with the pitch manipulation part201.

In summary, in the surgical instrument2000according to an embodiment of the present disclosure, the pulleys are formed on respective joint points (an actuation joint, a yaw joint, and a pitch joint), the wires (the first jaw wire or the second jaw wire) are wound around the pulleys, the rotational manipulations (actuation rotation, yaw rotation, and pitch rotation) of the manipulation part cause the movement of each wire, which in turn induces the desired motion of the end tool2100. Furthermore, the auxiliary pulley may be formed on one side of each of the pulleys, and the wire may not be wound several times around one pulley due to the auxiliary pulley.

FIG.49is a view schematically illustrating only a configuration of pulleys and wires constituting joints of the surgical instrument2000according to an embodiment of the present disclosure illustrated inFIG.2. InFIG.49, the relay pulleys for changing paths of the wires and not related to the operation of joints are omitted.

Referring toFIG.49, the manipulation part200may include the pulley210, the pulley211, the pulley212, the pulley213, the pulley214, the pulley215, the pulley216, the pulley217, and the pulley218that are related to a rotational motion of the first jaw2101.

In addition, the manipulation part200may include the pulley220, the pulley221, the pulley222, the pulley223, the pulley224, the pulley225, the pulley226, the pulley227, and the pulley228that are related to a rotational motion of the second jaw2102(the arrangement and structure of each of the pulleys of the manipulation part200are the same in principle as the arrangement and structure of each of the pulleys of the end tool2100, and thus specific designations of some reference numerals are omitted in the drawings).

The pulleys211and212and the pulleys221and222may be formed to be rotatable independently of each other around the same shaft, that is the rotation shaft243. In this case, the pulleys211and212and the pulleys221and222may each be formed as two pulleys formed to face each other and formed to be independently rotatable.

The pulleys213and214and the pulleys223and224may be formed to be rotatable independently of each other around the same shaft, that is the rotation shaft244. Here, the pulleys213and214may be formed as two pulleys formed to face each other and formed to be independently rotatable, and in this case, the two pulleys may be formed to have different diameters. Similarly, the pulleys223and224may be formed as two pulleys formed to face each other and formed to be independently rotatable, and in this case, the two pulleys may be formed to have different diameters.

The pulleys215and216and the pulleys225and226may be formed to be rotatable independently of each other around the same shaft, that is the rotation shaft245. In this case, the pulleys215and216may be formed to have different diameters. In addition, the pulleys225and226may be formed to have different diameters.

The pulleys217and218and the pulleys227and228may be formed to be rotatable independently of each other around the same shaft, that is the rotation shaft246.

The wire301is wound around the pulley210after sequentially passing through the pulley217, the pulley215, the pulley213, and the pulley211of the manipulation part200, and then is coupled to the pulley210by the coupling member324. Meanwhile, the wire305sequentially passes through the pulley218, the pulley216, the pulley214, and the pulley212of the manipulation part200and is coupled to the pulley210by the coupling member324. Thus, when the pulley210is rotated, the wires301and305are wound around or released from the pulley210, and accordingly, the first jaw2101is rotated.

The wire306is wound around the pulley220after sequentially passing through the pulley227, the pulley225, the pulley223, and the pulley221of the manipulation part200, and then is coupled to the pulley220by the coupling member327. Meanwhile, the wire302sequentially passes through the pulley228, the pulley226, the pulley224, and the pulley222of the manipulation part200and is coupled to the pulley220by the coupling member327. Thus, when the pulley220is rotated, the wire302and the wire306are wound around or released from the pulley220, and accordingly, the second jaw2102is rotated.

(Conceptual Diagram of Pulleys and Wires)

FIGS.51and52are diagrams illustrating a configuration of pulleys and wires, which are related to an actuation motion and a yaw motion of the surgical instrument2000according to an embodiment of the present disclosure illustrated inFIG.2, in detail for each of the first jaw and the second jaw.FIG.51is a diagram illustrating only pulleys and wires related to the second jaw, andFIG.52is a diagram illustrating only pulleys and wires related to the first jaw. In addition,FIG.50is a perspective view illustrating a yaw motion of the surgical instrument ofFIG.2. Here, inFIG.50, components related to stapling and cutting motions are omitted.

First, a wire motion of the actuation motion will be described.

Referring toFIG.52, when the first actuation extension part252is rotated around the rotation shaft241in the direction of an arrow OPA1, the pulley210connected to the first actuation extension part252is rotated, and the wire301and the wire305wound around the pulley210are moved in directions W1aand W1b, respectively, and as a result, the first jaw2101of the end tool2100is rotated in the direction of an arrow EPA1.

Referring toFIG.51, when the second actuation extension part257is rotated around the rotation shaft242in the direction of an arrow OPA2, the pulley220connected to the second actuation extension part257is rotated, and thus both strands of the wires302and306wound around the pulley220are moved in directions W2aand W2b, respectively, and as a result, the second jaw2102of the end tool2100is rotated in the direction of an arrow EPA2. Accordingly, when a user manipulates the first actuation extension part252and the second actuation extension part257in directions close to each other, a motion of the first jaw2101and the second jaw2102of the end tool being close to each other is performed.

Next, a wire motion of the yaw motion will be described.

First, since the rotation shaft243is connected to the rotation shafts241and242by the yaw frame (see207ofFIG.30), the rotation shaft243and the rotation shafts241and242are integrally rotated together.

Referring toFIG.52, when the first handle204is rotated around the rotation shaft243in the direction of an arrow OPY1, the pulley210and the pulleys211and212and the wires301and305wound therearound are rotated as a whole around the rotation shaft243, and as a result, the wires301and305wound around the pulleys211and212are moved in the directions W1aand W1b, respectively, which in turn causes the first jaw2101of the end tool2100to rotate in the direction of an arrow EPY1.

Referring toFIG.51, when the first handle204is rotated around the rotation shaft243in the direction of an arrow OPY2, the pulley220and the pulleys221and222and the wires302and306wound therearound are rotated as a whole around the rotation shaft243, and as a result, the wires302and306wound around the pulleys221and222are respectively moved in a direction opposite to a direction W1aand a direction opposite to a direction W1b, which in turn causes the first jaw2101of the end tool2100to rotate in the direction of an arrow EPY2.

FIGS.53to55are diagrams illustrating a configuration of pulleys and wires, which are related to stapling and cutting motions of the surgical instrument2000according to an embodiment of the present disclosure illustrated inFIG.2, in detail for each of the first jaw and the second jaw. Here,FIGS.47to49are drawings mainly illustrating pulleys and wires related to the second jaw.

Here,FIGS.53and54illustrate the process of actuation motion of closing two jaws, andFIGS.54and55illustrate the process of motion of stapling and cutting of tissue interposed between two jaws.

First, a wire motion of the actuation motion will be described.

Referring toFIGS.53and54, when the first actuation extension part252of the first actuation manipulation part251is rotated in the direction of an arrow OPA1around the rotation shaft241, the pulley210connected to the first actuation extension part252is rotated, and each of the wire (see301ofFIG.49) and the wire (see305ofFIG.49) wound around the pulley210is moved, which in turn causes the first jaw2101of the end tool2100to rotate in the direction of an arrow EPA1.

At this time, the manipulation part staple pulley269of the staple manipulation part260is formed to be rotatable around the rotation shaft241together with the first actuation manipulation part251. Thus, when the first actuation extension part252is rotated around the rotation shaft241, the staple manipulation part260is also rotated around the rotation shaft241together with the first actuation manipulation part251.

As a result, in the actuation motion, when the pulley2111is rotated in the end tool2100, the first staple pulley2181is also rotated together with the pulley2111.

Next, a wire operation of the stapling and cutting motions will be described.

Referring toFIG.55A, when the staple manipulation portion260is rotated in the direction of an arrow OPC1around a rotation shaft247, which is a manipulation portion cutting rotation shaft, the manipulation portion staple pulley269, and the wire307and the wire308, which are staple wires wound around the manipulation portion staple pulley269, rotate around the rotation shaft247, and as a result, each of the wire307and the wire308wound around the manipulation portion staple pulley269moves, which in turn causes the first staple pulley2181of the end tool2100to rotate in the direction of an arrow EPC1.

Referring toFIG.55B, when the staple manipulation portion260is rotated in the direction of an arrow OPC1around the rotation shaft247, which is a manipulation portion cutting rotation shaft, the manipulation portion staple pulley269, and the wire309and the wire310, which are staple wires wound around the manipulation portion staple pulley269, rotate around the rotation shaft247, and as a result, each of the wire309and the wire310wound around the manipulation portion staple pulley269moves, which in turn causes the second staple pulley2191of the end tool2100to rotate in the direction of an arrow EPC1.

Meanwhile, when the staple manipulation portion260rotates, the manipulation portion staple pulley269rotates around the rotation shaft247, and at this time, the rotation of the staple manipulation portion260does not affect the first actuation manipulation portion251.

As a result, when the manipulation portion staple pulley269rotates, the first staple pulley2181and the second staple pulley2191of the end tool2100rotate independently of the first jaw2101. In addition, when the first staple pulley2181and the second staple pulley2191rotate alternately in the clockwise/counterclockwise directions, the staple link assembly2170connected to the first staple pulley2181and the second staple pulley2191, and the reciprocating assembly550of the cartridge500connected thereto perform a reciprocating linear motion, and accordingly, as the operation member540of the cartridge500moves toward the distal end502, stapling and cutting motions are performed.

Here, as described above, the first staple pulley2181and the second staple pulley2191may rotate in opposite directions. For example, when the staple manipulation portion260rotates in any one direction, the first staple pulley2181rotates in the clockwise direction and the second staple pulley2191rotates in the counterclockwise direction, such that the staple link assembly2170may move toward the distal end2104of the end tool2100. On the contrary, when the staple manipulation portion260rotates in the opposite direction, the first staple pulley2181rotates in the counterclockwise direction and the second staple pulley2191rotates in the clockwise direction, such that the staple link assembly2170may move toward the proximal end2105of the end tool2100.

Here, although the drawings illustrate that the staple manipulation portion260is formed in a bar shape and a user manually rotates the staple manipulation portion260, but the technical concepts of the present disclosure is not limited thereto. That is, as described above, the staple manipulation portion260may include a motor (not shown), and while the user presses the staple manipulation portion260formed in a button shape, the motor (not shown) may be driven to alternately rotate the manipulation portion staple pulley269in the clockwise or counterclockwise direction. In addition, accordingly, the first staple pulley2181of the end tool2100may alternately rotate in the clockwise or counterclockwise direction.

FIGS.57to59are diagrams illustrating a configuration of pulleys and wires, which are related to a pitch motion of the surgical instrument2000according to an embodiment of the present disclosure illustrated inFIG.2, in detail for each of the first jaw and the second jaw.FIG.57is a diagram illustrating only pulleys and wires related to the second jaw, andFIG.58is a diagram illustrating only pulleys and wires related to the first jaw.FIG.59is a diagram illustrating only pulleys and wires related to the staple pulley. As shown inFIG.9and elsewhere herein, there are two pulleys related to the pitch motion, and both strands of each wire are wound in the same path, which is illustrated with one line inFIGS.57and59. In addition,FIG.56is a perspective view illustrating a pitch motion of the surgical instrument ofFIG.2. Here, inFIG.56, components related to stapling and cutting motions are omitted.

Referring toFIG.57, when the first handle204is rotated around the rotation shaft246in the direction of an arrow OPP1, the pulley210, the pulley215, the pulley217, and the like, and the wire301and the like wound therearound are rotated as a whole around the rotation shaft246. At this time, since the wires301and305, which are first jaw wires, are wound around upper portions of the pulley217and the pulley218as shown inFIG.57, the wires301and305are moved in the direction of an arrow W1. As a result, as described with reference toFIG.5, the first jaw2101of the end tool2100is rotated in the direction of an arrow EPP1.

Referring toFIG.58, when the first handle204is rotated around the rotation shaft246in the direction of an arrow OPP2, the pulley220, the pulley225, the pulley227, and the like, and the wire302and the like wound therearound are rotated as a whole around the rotation shaft246. At this time, since the wires302and306, which are second jaw wires, are wound around lower portions of the pulley227and the pulley228as shown inFIG.58, the wires302and306are moved in the direction of an arrow W2. As a result, as described with reference toFIG.5, the second jaw2102of the end tool2100is rotated in the direction of an arrow EPP2.

Referring toFIG.59, when the first handle204is rotated around the rotation shaft246in the direction of an arrow OPC1, the manipulation part staple pulley269, a pulley265, a pulley267, and the like, and the wires307and308and the like wound therearound are rotated as a whole around the rotation shaft246. At this time, since the wires307and308, which are first staple wires, are wound around lower portions of the pulley267and a pulley268, the wires307and308are moved in the direction of an arrow W3. As a result, as described with reference toFIG.5, the first staple pulley2181of the end tool2100is rotated in the direction of an arrow EPC1.

As a result, in the pitch motion, when the pulley2111is rotated around the rotation shaft2143in the end tool2100, the first staple pulley2181is also rotated around the rotation shaft2143together with the pulley2111.

Thus, the actuation, yaw, and pitch manipulations are manipulatable independent of each other.

As described with reference toFIG.1, the actuation manipulation part203, the yaw manipulation part202, and the pitch manipulation part201are configured such that the respective rotation shafts are located at the rear thereof to be identical to the joint configuration of the end tool, so that a user may intuitively perform matching manipulations.

In particular, in the surgical instrument2000according to an embodiment of the present disclosure, the pulleys are formed on respective joint points (an actuation joint, a yaw joint, and a pitch joint), the wires (the first jaw wire or the second jaw wire) are formed to be wound around the pulleys, the rotational manipulations (actuation rotation, yaw rotation, and pitch rotation) of the manipulation part cause the movement of each wire, which in turn induces the desired motion of the end tool2100. Furthermore, the auxiliary pulleys may be formed on one side of the respective pulleys, and these auxiliary pulleys may prevent the wire from being wound on one pulley multiple times, so that the wires wound on the pulley do not come into contact with each other, and paths of the wire being wound around the pulley and the wire being released from the pulley are safely formed, so that safety and efficiency in the transmission of driving force of a wire may be improved.

Meanwhile, as described above, the yaw manipulation part202and the actuation manipulation part203are directly formed on the first handle204. Thus, when the first handle204is rotated around the rotation shaft246, the yaw manipulation part202and the actuation manipulation part203are also rotated together with the first handle204. Accordingly, the coordinate systems of the yaw manipulation part202and the actuation manipulation part203are not fixed, but are continuously changed relative to the rotation of the first handle204. That is, inFIG.2or the like, the yaw manipulation part202and the actuation manipulation part203are illustrated as being parallel to the z-axis. However, when the first handle204is rotated, the yaw manipulation part202and the actuation manipulation part203are not parallel to the Z-axis any longer. That is, the coordinate systems of the yaw manipulation part202and the actuation manipulation part203are changed according to the rotation of the first handle204. However, in the present specification, for convenience of description, unless described otherwise, the coordinate systems of the yaw manipulation part202and the actuation manipulation part203are described on the basis of a state in which the first handle204is located perpendicular to the connection part400as illustrated inFIG.2.

(Correlation Between Stapling and Cutting Motions and Other Motions)

Hereinafter, a correlation between stapling and cutting motions and other motions (pitch, yaw, and actuation motions) will be described.

First, when the end tool2100performs a pitch motion, the first staple pulley2181and the second staple pulley2191also perform a pitch motion. That is, when the pulley2111and the pulley2121perform a pitch motion of rotating in the same direction around the rotation shaft2143, the first staple pulley2181and the second staple pulley2191need to rotate in the same direction together with the pulley2111and the pulley2121. If the first staple pulley2181and the second staple pulley2191do not rotate together when the pulley2111and the pulley2121rotate around the rotation shaft2143, there is a risk that the cartridge500connected to the first staple pulley2181and the second staple pulley2191moves relative to the first jaw2101and is separated from the first jaw2101. In addition, rotation of the first staple pulley2181and the second staple pulley2191that is not synchronized with the pulley2111may cause the reciprocating member551to unintentionally move forward, which in turn may cause an unintended stapling motion.

Next, when the end tool2100performs a yaw motion, the first staple pulley2181and the second staple pulley2191also perform a yaw motion. That is, when the pulley2111and the pulley2121perform a yaw motion of rotating in the same direction around the rotation shaft2141, the first staple pulley2181and the second staple pulley2191need to rotate in the same direction together with the pulley2111and the pulley2121. If the first staple pulley2181and the second staple pulley2191do not rotate together when the pulley2111and the pulley2121rotate around the rotation shaft2141, there is a risk that the cartridge500connected to the first staple pulley2181and the second staple pulley2191moves relative to the first jaw2101and is separated from the first jaw2101. In addition, rotation of the first staple pulley2181and the second staple pulley2191that is not synchronized with the pulley2111may cause the reciprocating member551to unintentionally move forward, which in turn may cause an unintended stapling motion.

Next, when the end tool2100performs an actuation motion, the first staple pulley2181and the second staple pulley2191rotate together with the pulley2111. That is, when the pulley2111and the pulley2121perform an actuation motion of rotating in opposite directions around the rotation shaft2141, the first staple pulley2181and the second staple pulley2191need to rotate together with the pulley2111. If the first staple pulley2181and the second staple pulley2191do not rotate together with the pulley2111when the pulley2111rotates around the rotation shaft2143, there is a risk that the cartridge500connected to the first staple pulley2181and the second staple pulley2191moves relative to the first jaw2101and is separated from the first jaw2101. In addition, rotation of the first staple pulley2181and the second staple pulley2191that is not synchronized with the pulley2111may cause the reciprocating member551to unintentionally move forward, which in turn may cause an unintended stapling motion.

Meanwhile, when the end tool2100performs stapling and cutting motions, the pulley2111and the pulley2121do not rotate. That is, when the first staple pulley2181and the second staple pulley2191rotate around the rotation shaft2141, and the link member2171and the reciprocating member551of the cartridge500connected thereto perform a linear reciprocating motion, the pulley2111and the pulley2121need not to rotate. Otherwise, the first jaw2101or the second jaw2102rotate during the stapling and cutting motions, and thus, the stapling and cutting motions will not be performed normally.

As a result, when the pulley2111, which is a first jaw pulley, rotates, the first staple pulley2181and the second staple pulley2191accommodated in the first jaw2101need to rotate together with the pulley2111. On the contrary, when the first staple pulley2181and the second staple pulley2191rotate for stapling and cutting, the pulley2111and the pulley2121need to maintain their positions without rotating. As such, the correlation between the stapling and cutting motions and other motions (the yaw and actuation motions) are discussed above.

In other words, it may be said that the pulley2111and the pulley2121are independent of the rotation of the first staple pulley2181and the second staple pulley2191. That is, even when the first staple pulley2181and the second staple pulley2191rotate by staple wires, the pulley2111and the pulley2121may not rotate. On the contrary, it may be said that the first staple pulley2181and the second staple pulley2191are dependent on rotation of the pulley2111. That is, when the pulley2111rotates by a jaw wire, the first staple pulley2181and the second staple pulley2191may also rotate together with the pulley2111.

FIGS.60and62are diagrams illustrating a state in which jaws are yaw-rotated by −90°, andFIGS.61and63are diagrams illustrating a process of performing an actuation motion in a state in which jaws are yaw-rotated by −90°. Here,FIGS.60and61are diagrams in which the pulley2111is illustrated, andFIGS.62and63are diagrams in which the pulley2111is omitted.

FIGS.64and66are diagrams illustrating a state in which jaws are yaw-rotated by −90°, andFIGS.65and67are diagrams illustrating a process of performing an actuation motion in a state in which jaws are yaw-rotated by −90°. Here,FIGS.64and65are diagrams in which the pulley2111is illustrated, andFIGS.66and67are diagrams in which the pulley2111is omitted.

As illustrated inFIGS.60to67, the end tool of the surgical instrument according to the first embodiment of the present disclosure is formed to be able to normally perform an actuation motion even when the jaws are yaw-rotated by +90° or −90°.

FIGS.68and69are plan views illustrating stapling and cutting motions of the end tool of the surgical instrument ofFIG.2, and illustrating a process of performing the stapling and cutting motions in a state in which jaws are yaw-rotated by +90°. As illustrated inFIG.68, the end tool of the surgical instrument according to the first embodiment of the present disclosure is formed to be able to normally perform the stapling and cutting motions even when the jaws are yaw-rotated by +90°.

In detail, in a state in which the pulley2111, the pulley2121, and the first staple pulley2181rotate by +90° around the rotation shaft2141, when the first staple pulley2181rotates alternately in the clockwise/counterclockwise directions, the link member2171and the reciprocating member551connected thereto repeatedly move forward and backward. In addition, when the reciprocating member551moves forward, the operation member540moves forward together with the reciprocating member551, and when the reciprocating member551moves backward, only the reciprocating member551moves backward and the operation member540remains stationary in place. By repeating this process, the stapling and cutting motions are performed as the operation member540moves toward the distal end502.

FIGS.70and71are plan views illustrating stapling and cutting motions of the end tool of the surgical instrument ofFIG.2, and illustrating a process of performing the stapling and cutting motions in a state in which jaws are yaw-rotated by −90°. As illustrated inFIG.70, the end tool of the surgical instrument according to the first embodiment of the present disclosure is formed to be able to normally perform the stapling and cutting motions even when the jaws are yaw-rotated by −90°.

In detail, in a state in which the pulley2111, the pulley2121, and the first staple pulley2181rotate by −90° around the rotation shaft2141, when the first staple pulley2181rotates alternately in the clockwise/counterclockwise directions, the link member2171and the reciprocating member551connected thereto repeatedly move forward and backward. In addition, when the reciprocating member551moves forward, the operation member540moves forward together with the reciprocating member551, and when the reciprocating member551moves backward, only the reciprocating member551moves backward and the operation member540remains stationary in place. By repeating this process, the stapling and cutting motions are performed as the operation member540moves toward the distal end502.

FIG.72is a diagram illustrating a state in which jaws are pitch-rotated by −90°, and FIG.73is a diagram illustrating a process of performing an actuation motion in a state in which jaws are pitch-rotated by −90°.FIG.74is a diagram illustrating a state in which jaws are pitch-rotated by +90°, andFIG.75is a diagram illustrating a process of performing an actuation motion in a state in which jaws are pitch-rotated by +90°.

Referring toFIGS.72to75, it may be seen that, in performing a pitch motion, the motions of the manipulation portion200and the end tool2100are intuitively matched. That is, when the manipulation portion200rotates in a positive (+) direction with respect to the pitch rotation shaft (Y-axis), the end tool2100also rotates in the positive (+) direction with respect to the pitch rotation shaft (Y-axis). In addition, when the manipulation portion200is rotated in a negative (−) direction with respect to the pitch rotation shaft (Y-axis), the end tool2100also rotates in the negative (−) direction with respect to the pitch rotation shaft (Y-axis). Here, the rotation angle of the manipulation portion200and the rotation angle of the end tool2100may be variously set according to the proportions of the pulleys.

FIG.76is a diagram illustrating a state in which jaws are yaw-rotated by +90°, andFIG.77is a diagram illustrating a process of performing an actuation motion in a state in which jaws are yaw-rotated by +90°.FIG.78is a diagram illustrating a state in which jaws are yaw-rotated by −90°, andFIG.79is a diagram illustrating a process of performing an actuation motion in a state in which jaws are yaw-rotated by −90°.

Referring toFIGS.76to79, it may be seen that, in performing a yaw motion, the motions of the manipulation portion200and the end tool2100are intuitively matched. That is, when the manipulation portion200rotates in a positive (+) direction with respect to the yaw rotation shaft (Z-axis), the end tool2100also rotates in the positive (+) direction with respect to the yaw rotation shaft (Z-axis). In addition, when the manipulation portion200rotates in a negative (−) direction with respect to the yaw rotation shaft (Z-axis), the end tool2100also rotates in the negative (−) direction with respect to the yaw rotation shaft (Z-axis). Here, the rotation angle of the manipulation portion200and the rotation angle of the end tool2100may be variously set according to the proportions of the pulleys.

FIG.80is a diagram illustrating a state in which jaws are pitch-rotated by −90° and simultaneously yaw-rotated by +90°, andFIG.81is a diagram illustrating a process of performing an actuation motion in the state in which jaws are pitch-rotated by −90° and simultaneously yaw-rotated by +90°.FIG.82is a diagram illustrating a state in which jaws are pitch-rotated by +90° and simultaneously yaw-rotated by −90°, andFIG.83is a diagram illustrating a process of performing an actuation motion in the state in which jaws are pitch-rotated by +90° and simultaneously yaw-rotated by −90°.

Referring toFIGS.80to83, it may be seen that the motions of the manipulation portion200and the end tool2100are intuitively matched, even when performing the pitch and yaw motions simultaneously.

Hereinafter, an end tool2200of a surgical instrument according to a modified example of the present disclosure will be described. Here, the end tool2200of the surgical instrument according to a modified example of the present disclosure is different from the end tool (see100ofFIG.2or the like) of the surgical instrument according to the first embodiment of the present disclosure described above in that a configuration of a staple pulley assembly2260and a staple link assembly2270is different. Hereinafter, the configuration that is different from that of the first embodiment will be described in detail.

FIGS.84and85are perspective views illustrating an end tool of a surgical instrument according to a modified example of the present disclosure.FIGS.86and87are exploded perspective views of the tool end of the surgical instrument ofFIG.84.FIGS.88and89are exploded perspective views illustrating a staple pulley assembly and a staple link assembly of the surgical instrument ofFIG.84.FIGS.90and91are side views illustrating operating states of a staple pulley in the end tool of the surgical instrument ofFIG.84.FIGS.92and93are perspective views illustrating operating states of the staple pulley in the end tool of the surgical instrument ofFIG.84. Here,FIG.85illustrates a state in which the end tool hub is removed.

Referring toFIGS.84to93, the end tool2200of a modified example of the present disclosure includes a pair of jaws2203for performing a grip motion, that is, a first jaw2201and a second jaw2202. Here, each of the first jaw2201and the second jaw2202, or a component encompassing the first jaw2201and the second jaw2202may be referred to as a jaw.

Meanwhile, the end tool2200includes a plurality of pulleys including a pulley2211and a pulley2212that are associated with a rotational motion of the first jaw2201. The pulleys associated with the rotational motion of the first jaw2201described in the present embodiment are substantially the same as the pulley111, the pulley112, the pulley113, the pulley114, the pulley115, and the pulley116of the first embodiment described above with reference toFIG.8and the like, and thus, detailed descriptions thereof will be omitted.

Meanwhile, the end tool2200includes a plurality of pulleys including a pulley2221and a pulley2222that are associated with a rotational motion of the second jaw2202. The pulleys associated with the rotational motion of the second jaw2202described in the present embodiment are substantially the same as the pulley121, the pulley122, the pulley123, the pulley124, the pulley125, and the pulley126of the first embodiment described above with reference toFIG.8and the like, and thus, detailed descriptions thereof will be omitted.

In addition, the end tool2200of a modified example of the present disclosure may include a rotation shaft2241, a rotation shaft2242, a rotation shaft2243, and a rotation shaft2244. Here, the rotation shaft2241and the rotation shaft2242may be inserted through an end tool hub2206, and the rotation shaft2243and the rotation shaft2244may be inserted through a pitch hub2207. The rotation shaft2241, the rotation shaft2242, the rotation shaft2243, and the rotation shaft2244may be arranged sequentially from a distal end2204of the end tool2200toward a proximal end2205.

In addition, the end tool2200of a modified example of the present disclosure may include an end tool hub22802206and a pitch hub2207.

The rotation shaft2241and the rotation shaft2242may be inserted through the end tool hub2280, and the pulley2211and the pulley2221axially coupled to the rotation shaft2241and at least portions of the first jaw2201and the second jaw2202coupled to the pulley2211and the pulley2221may be accommodated in the end tool hub2280.

The rotation shaft2243and the rotation shaft2244may be inserted through the pitch hub2207, and the pitch hub2207may be axially coupled to the end tool hub2280by the rotation shaft2243. Thus, the end tool hub2280may be formed to be pitch-rotatable around the rotation shaft2243with respect to the pitch hub2207.

Meanwhile, the end tool2200of a modified example of the present disclosure may further include components, such as the staple drive assembly (see150ofFIG.15) including the staple pulley assembly2260and the staple link assembly2270, to perform stapling and cutting motions.

The staple pulley assembly2260may be formed between the pulley2211and the pulley2221to be adjacent to the pulley2211and the pulley2221. In the present embodiment, it is assumed that the staple pulley assembly2260includes a first staple pulley2281and a second staple pulley2291.

In a modified example of the present disclosure, by arranging the staple pulley assembly2260between the pulley2211, which is a first jaw pulley, and the pulley2221, which is a second jaw pulley, the end tool2200is allowed to perform pitch and yaw motions as well as stapling and cutting motions using a cartridge2210.

Hereinafter, the staple pulley assembly2260, the staple link assembly2270, and a reciprocating assembly2250of the end tool2200of the surgical instrument according to a modified example of the present disclosure will be described in more detail.

In the end tool2200of the surgical instrument according to a modified example of the present disclosure, the staple pulley assembly2260and the staple link assembly2270form a pin/slot structure. In addition, with such a structure, a force for moving the reciprocating assembly550forward may be amplified.

Referring toFIGS.84to93, the staple pulley assembly2260may include the first staple pulley2281and the second staple pulley2291.

The first staple pulley2281may include a body2281a, a protruding member2281b, and a shaft pass-through part2281c.

The body2281ais formed in a disk shape.

The shaft pass-through part2281cmay be formed in a central portion of the body2281a. The shaft pass-through part2281cmay be formed in the form of a hole, and the rotation shaft2241, which is an end tool jaw pulley rotation shaft, may be inserted through the shaft pass-through part2281c.

In addition, the protruding member2281bmay be formed on the body part2281aof the first staple pulley2281. The protruding member2281bmay be coupled to a link member2271of the staple link assembly2270. Here, the protruding member2261bis formed in the form of a pin, and may be fitted into a first slot2272dof the link member2271to be described below.

Meanwhile, the second staple pulley2291may include a body2291a, a protruding member2291b, and a shaft pass-through part2291c.

The body2291ais formed in a disk shape.

The shaft pass-through part2291cmay be formed in a central portion of the body2291a. The shaft pass-through part2291cmay be formed in the form of a hole, and the rotation shaft2241, which is an end tool jaw pulley rotation shaft, may be inserted through the shaft pass-through part2291c.

In addition, the protruding member2291bmay be formed on the body2291aof the second staple pulley2291. The protruding member2291bmay be coupled to the link member2271of the staple link assembly2270. Here, the protruding member2261bis formed in the form of a pin, and may be fitted into a second slot2272eof the link member2271to be described below.

Meanwhile, the end tool2200of a modified example of the present disclosure may further include the staple link assembly2270connected to the staple pulley assembly2260, and the staple link assembly2270may include the link member2271. Here, the staple link assembly2270may serve to connect the staple pulley assembly2260to the reciprocating assembly (see550ofFIG.28) of the cartridge (see500ofFIG.28).

In the present embodiment, the staple link assembly2270includes one link member2271, and the link member2271includes only one link. That is, by coupling the staple pulley assembly2260to the staple link assembly2270by a pin/slot structure, it is possible to convert a rotational motion of the staple pulley assembly2260into a linear motion of the staple link assembly2270even when the staple link assembly2270includes only one link.

In detail, the link member2271may be formed as a single link.

The link member2271is formed in a shape of a combination of an elongated bar with an elliptical flat plate, and may be formed in an approximately ‘L’ shape. Here, the link member2271may include a first protrusion2272a, a second protrusion2272b, a fastening portion2272c, the first slot2272d, and the second slot2272e.

the first protrusion2272aand the second protrusion2272bmay be formed in one region of a central portion of the link member2271. The first protrusion2272aand the second protrusion2272bmay be fitted into a guide groove2201bof the first jaw2201.

As such, as the first protrusion2272aand the second protrusion2272bmove along the guide groove2201bin a state in which the first protrusion2272aand the second protrusion2272bof the link member2271formed in a protruding shape are fitted into the groove-shaped guide groove2201b, the link member2271moves with respect to the first jaw2201(and the cartridge500therein). This will be described in more detail below.

Meanwhile, the fastening portion2272cmay be formed at one end of the link member2271. The fastening portion2272cmay be coupled to the fastening portion (see551aofFIG.28) of the reciprocating member (see551ofFIG.28) of the cartridge (see500ofFIG.28).

Meanwhile, the first slot2171dand the second slot2171emay be formed at an end opposite to the end of the link member2171at which the fastening portion2171cis formed.

In detail, the first slot2171dmay be formed on a surface of the link member2171facing the first staple pulley2181. Here, the first slot2171dmay be formed in the shape of an elongated hole, and the protruding member2181bof the first staple pulley2181may be inserted into the first slot2171d. The first slot2171dmay be formed to have a predetermined curvature, and may be formed in an approximately elliptical shape. Here, a short radius of the first slot2272dmay be substantially equal to or slightly greater than a radius of the protruding member2281b. Meanwhile, a long radius the first slot2272dmay be greater than a radius of the protruding member2281b. Accordingly, the protruding member2281bis formed to be movable to a certain extent in the first slot2272din a state in which the protruding member2281bof the first staple pulley2281is fitted into the first slot2272dof the link member2271.

Here, the first slot2272dmay be formed obliquely rather than concentrically. Accordingly, when the first staple pulley2281rotates, the protruding member2281bin contact with the first slot2272dmay push the first slot2272dto move the link member2271. That is, when the first staple pulley2281rotates, the protruding member2281bmay move while being in contact with the first slot2272dwithin the first slot2272d, and accordingly, the link member2271may linearly move along the guide groove2201bof the first jaw2201.

Here, the first slot2271dmay be formed not to pass through the entire thickness of the link member2271, but to pass through about half of the entire thickness of the link member2271. In other words, the first slot2271dmay be formed to have substantially the same thickness as the thickness of the protruding member2281bof the first staple pulley2281.

Meanwhile, the second slot2271emay be formed in the link member2271. In detail, the second slot2271emay be formed on a surface of the link member2271facing the second staple pulley2291. Here, the second slot2271emay be formed in the shape of an elongated hole, and the protruding member2291bof the second staple pulley2291may be inserted into the second slot2271e. The second slot2271emay be formed to have a predetermined curvature, and may be formed in an approximately elliptical shape.

Here, a short radius of the second slot2272emay be substantially equal to or slightly greater than a radius of the protruding member2291b. Meanwhile, a long radius the second slot2272emay be greater than a radius of the protruding member2291b. Accordingly, the protruding member2291bis formed to be movable to a certain extent in the second slot2272ein a state in which the protruding member2291bof the second staple pulley2291is fitted into the second slot2272eof the link member2271.

As described above, the second slot2272emay be formed obliquely rather than concentrically. Accordingly, when the second staple pulley2291rotates, the protruding member2291bin contact with the second slot2272emay push the second slot2272eto move the link member2271. That is, when the second staple pulley2291rotates, the protruding member2291bmay move while being in contact with the second slot2272ewithin the second slot2272e, and accordingly, the link member2271may linearly move along the guide groove2201bof the first jaw2201.

Here, the second slot2271emay be formed not to pass through the entire thickness of the link member2271, but to pass through about half of the entire thickness of the link member2271. In other words, the second slot2271emay be formed to have substantially the same thickness as the thickness of the protruding member2291bof the second staple pulley2291.

Here, the first slot2271dand the second slot2271emay be formed to at least partially overlap each other. In addition, the sum of the thicknesses of the first slot2271dand the second slot2271ein the Y-axis direction may be substantially equal to the thickness of the link member2271in the Y-axis direction.

Here, the first slot2271dand the second slot2271emay be formed to be vertically symmetrical with respect to the rotation shaft2241. As such, as the first slot2271dand the second slot2271eare vertically symmetrical with respect to the rotation shaft2241, the protruding member2281bof the first staple pulley2281and the protruding member2291bof the second staple pulley2291, which are coupled to the link member2271, may be arranged to be symmetrical with each other. This will be described in more detail below.

(Displacement and Operation of Staple Link Assembly According to Rotation of Staple Pulley)

Hereinafter, displacement of the staple link assembly2270according to rotation of the first staple pulley2281and the second staple pulley2291will be described.

Referring toFIG.88, in a modified example of the present disclosure, the first staple pulley2281and the staple link assembly2270are coupled to each other in a pin/slot form. That is, the pin-shaped protruding member2281bformed in the first staple pulley2281is coupled to the first slot2271dformed in the link member2271. Thus, when the first staple pulley2281rotates in the direction of an arrow A, the displacement of the protruding member2281bof the first staple pulley2281in the X-axis direction becomes B. In addition, the displacement of the staple link assembly2270in the X-axis direction becomes C.

Similarly, referring toFIG.89, in the first embodiment of the present disclosure, the second staple pulley2291and the staple link assembly2270are coupled to each other in a pin/slot form. That is, the pin-shaped protruding member2291bformed in the second staple pulley2291is coupled to the second slot2271eformed in the link member2271. Thus, when the second staple pulley2291rotates in the direction of an arrow D, the displacement of the protruding member2291bof the second staple pulley2291in the X-axis direction becomes E. In addition, the displacement of the staple link assembly2270in the X-axis direction becomes F.

In comparison with the above case, when a staple pulley and a staple link assembly are coupled to each other in a link-shaft manner rather than the pin/slot manner, the displacement of the staple link assembly in the X-axis direction becomes much longer than that in a modified example of the present disclosure.

In other words, compared to when the staple pulley and the staple link assembly are axially coupled to each other, when the staple pulley and the staple link assembly are coupled to each other in the pin/slot manner as in the present embodiment, the displacement of the staple link assembly displacement in the X-axis direction decreases even when the staple pulley rotates by the same amount.

Meanwhile, since work is the product of force and displacement, assuming that the work for rotating the staple pulley is the same, the displacement and the force are inversely proportional to each other. Accordingly, when the displacement is reduced, the force is increased in inverse proportion to the displacement.

As a result, in a modified example of the present disclosure, because the first staple pulley2281and the second staple pulley2291are each coupled to the staple link assembly2270in the pin/slot form, and the displacement of the staple link assembly2270in the X-axis direction due to the rotation of the first staple pulley2281and the second staple pulley2291is relatively reduced compared to other embodiments, the force received by the staple link assembly2270in the X-axis direction relatively increases compared to a simple link structure.

According to a modified example of the present disclosure described above, a force for moving forward the staple link assembly2270and the reciprocating assembly550connected thereto is amplified, and thus, a stapling motion may be performed more robustly.

In particular, in a modified example of the present disclosure, because two staple pulleys (i.e., the first staple pulley2281and the second staple pulley2291) symmetrical to each other are provided, the force with which the staple pulley assembly2260pushes the staple link assembly2270may be amplified by approximately two times compared to a case in which only one staple pulley is provided. In addition, because the first staple pulley2281and the second staple pulley2291are arranged to be horizontally symmetrical with each other with respect to an XZ plane, the horizontal balance is achieved in performing a stapling motion, such that the end tool2200may stably perform the motion without shaking left and right.

Hereinafter, rotation directions of the first staple pulley2281and the second staple pulley2291will be described.

Referring toFIGS.90,91,92,93, and the like, the first staple pulley2281moves forward the staple link assembly2270when rotating in the direction of an arrow A ofFIG.93(i.e., the clockwise direction), and the second staple pulley2291moves forward the staple link assembly2270when rotating in the direction of an arrow D ofFIG.93(i.e., the counterclockwise direction).

On the contrary, the first staple pulley2281moves backward the staple link assembly2270when rotating in the counterclockwise direction, and the second staple pulley2291moves backward the staple link assembly2270when rotating in the clockwise direction.

Accordingly, when the first staple pulley2281and the second staple pulley2291rotate in opposite directions, the staple link assembly2270is moved (forward or backward). On the contrary, when the first staple pulley2281and the second staple pulley2291rotate in the same direction, the rotation of the two pulleys is offset, and thus, the staple link assembly2270is not moved.

Accordingly, in a state illustrated inFIG.92, when the first staple pulley2281rotates in the clockwise direction and the second staple pulley2291rotates in the counterclockwise direction at the same time, the link member2271connected to the first staple pulley2281and the second staple pulley2291may move toward the distal end (see2101fofFIG.13) of the first jaw2201.

On the contrary, when the first staple pulley2281rotates in the counterclockwise direction and the second staple pulley2291rotates in the clockwise direction at the same time, the link member2271connected to the first staple pulley2281and the second staple pulley2291may move toward the proximal end (see2101gofFIG.13) of the first jaw2201.

Thus, a bidirectional rotational motion of the staple pulley assembly2260causes a reciprocating linear motion of the reciprocating assembly (see550ofFIG.28) of the cartridge (see500ofFIG.28) through the staple link assembly2270.

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

INDUSTRIAL APPLICABILITY

The present disclosure relates to an end tool of a surgical instrument and a surgical instrument including the same, and more particularly, may be used to an end tool of a surgical instrument that may be mounted on a robotic arm or operable manually to be used in laparoscopic surgery or other various surgeries, wherein the end tool is rotatable in two or more directions and is moved in a way that intuitively matches a motion of a manipulation part, and a surgical instrument including the same.