WO2011115310A1

WO2011115310A1 - Surgical tool

Info

Publication number: WO2011115310A1
Application number: PCT/KR2010/001594
Authority: WO
Inventors: 노태성
Original assignee: 주식회사 로보멕
Priority date: 2010-03-15
Filing date: 2010-03-15
Publication date: 2011-09-22

Abstract

The present invention relates to a surgical tool having a wrist joint formed at a rear idler pulley, from between a front idler pulley and the rear idler pulley, in order to render the diameter of the front idler pulley small and thus render the overall diameter of the surgical tool small. The surgical tool of the present invention comprises: a shaft; a wrist member connected to the shaft and including a guide member, and a plurality of projecting members installed facing the wrist body and each having an insert hole defined therein, wherein a wrist body is connected to the guide member and has a plurality of installation holes defined therein; a plurality of effectors connected to the wrist member and including a capstan, a protruding member integrally formed with the capstan, a fixing member inserted in the protruding member, and an end effector for performing pitch movement by means of the rotation of the capstan; and a driver for selectively controlling a pair of first and second rotating members, third and fourth rotating members, the diameters of which are smaller than the diameters of the first and second rotating members, and the ends of four cables connected to the effectors, so as to perform a yaw movement of the effectors, a pitch movement, and a 3-way movement of a pincer.

Description

Surgical instruments

The present invention relates to a surgical instrument, and more particularly, by forming a wrist joint in the rear idler pulley of the front idler pulley and the rear idler pulley to form a smaller diameter of the front idler pulley to reduce the diameter of the overall surgical instrument It is about a mechanism.

Surgical instruments are applied to laparoscopic surgery or robotic surgery to minimize the incision during surgery. Surgical surgical instruments are applied to laparoscopic surgery or robotic surgery, hereinafter, simply referred to as surgical instruments.

Techniques related to such conventional surgical instruments are already known from US Patent US5792135 (registered date: August 6, 1998, Applicant: Intuitive Surgical, Inc.). Referring to Figure 1 attached to the surgical instrument described in US Patent US5792135 as follows.

Conventional surgical instruments are largely composed of a wrist-like mechanism 110 and a shaft 120, as shown in FIG.

Wrist mechanism 110 is connected to shaft 120 and includes wrist member 111, a plurality of capstan 112, end effector 113, and front idler pulley. 114, a rear idler pulley 115, and a plurality of

cables

116, 117. Although only one end operator 113, front idler pulley 114, and rear idler pulley 115 are shown in FIG. 1, a plurality of conventional surgical instruments are provided, respectively, and a rotation axis of the front idler pulley 114 is provided. A wrist joint 114a is formed.

The diameter of the conventional surgical instrument is determined by the diameter d1 of the plurality of protruding members 111a formed on the wrist member 111, and the diameter d2 of the capstan 112 is the diameter d1 of the surgical instrument. The maximum value is constrained by. The diameter d1 of the protruding member 111a is determined by the radius r1 of the front idler pulley 114 forming the wrist joint 114a which is installed close to the protruding member 111a, and between the plurality of capstans 112. The distance g1 of is determined by the radius r1 of the front idler pulley 114.

However, in the conventional surgical instrument, when the radius r1 of the front idler pulley 114 is large, the distance g1 between the plurality of capstans 112 becomes large. When the distance g1 between the plurality of capstans 112 becomes large, the diameter d2 of the capstan 112 becomes small, requiring a larger driving force.

In addition, the operating force of the surgical instrument is proportional to the tension applied to the plurality of cables (116, 117), the rotational force of the end operator 113 is applied to the tension and wrist joint (tension) applied to the plurality of cables (116, 117) ( Determined by the radius of 114a). In the conventional surgical instrument, since the wrist joint 114a is positioned at the front idler pulley 114 as shown in FIG. 1, the rotational force of the end operator 113 is applied to the tension and force applied to the plurality of

cables

116 and 117. 114 is determined by the radius r1.

Conventional surgical instruments have a large number of tension applied to the cable (116,117) when the wrist joint (114a) is formed in the front idler pulley (114) to reduce the radius (r1) of the front idler pulley (114). Durability of the two

cables

116 and 117 is reduced. When the durability of the plurality of

cables

116 and 117 is lowered, the reliability of the surgical instrument is lowered.

In addition, when the radius r1 of the front idler pulley 114 cannot be made small, the distance g1 between the plurality of capstans 112 becomes large, so that the diameter d2 of the capstan 112 can be made large. none. Due to the small diameter d2 of the capstan 112, the conventional surgical instrument requires a larger driving force to drive the end operator 113, which makes operation difficult.

As such, the conventional surgical instrument cannot form a small radius of the front idler pulley due to the wrist joint formed on the front idler pulley, and thus the conventional surgical instrument has a problem in that the diameter of the surgical instrument cannot be reduced as a whole.

Accordingly, an object of the present invention is to solve the above problems, by forming a wrist joint in the rear idler pulley of the front idler pulley and the rear idler pulley to form a smaller diameter of the front idler pulley to reduce the diameter of the surgical instrument patient In providing a surgical instrument that can make the surgical site as small as possible.

Another object of the present invention is to provide a surgical instrument that can form a large diameter of the capstan by forming a small diameter of the front idler pulley to apply a small driving force with a cable to finely manipulate the end operator.

Another object of the present invention to provide a surgical instrument that can improve the reliability of the surgical instrument by improving the durability of the cable by reducing the driving force applied to the cable.

Surgical instrument according to an embodiment of the present invention and the shaft (shaft); A wrist consisting of a guide member, a plurality of installation holes, a wrist body having a plurality of insertion holes communicating with each of the installation holes, and a plurality of protruding members formed opposite to the wrist body and having insertion holes. A member; A capstan, a protruding member integrally formed with the capstan, a fixing member fitted to the protruding member, and an end operator pitched by rotation of the capstan, and a plurality of effectors connected to the wrist member. Wow; A pair of first and second rotating members, third and fourth rotating members having a diameter smaller than a diameter of the first and second rotating members, and a driving unit including first and second cables, The driving unit rotates the wrist member to yaw and rotates the plurality of actuators in one direction, and the pitch moves, respectively, to be configured to allow the tong movement by rotating in a narrower or farther direction.

Surgical instrument according to another embodiment of the present invention and the shaft; A wrist member connected to the shaft and first pins and having a plurality of second pins installed therein; A plurality of operators connected to the wrist member and the third pin, respectively; It is installed on the first pin and the plurality of second pins, respectively, to rotate the wrist member to yaw movement, and to make a pitch movement to rotate the plurality of operators, respectively, consisting of a drive unit for moving the forceps to narrow or move away from each other The driving unit includes a pair of first rotation members installed on one of the plurality of second pins installed on the wrist member, and a pair of second rotations installed on the other one of the plurality of second pins installed on the wrist member. A member, a pair of third rotating members installed on the first pin to be located on one side of the wrist member, a pair of fourth rotating members installed on the first pin to be located on the other side of the wrist member, and One of the pair of first rotating members and one of the pair of second rotating members and one of the pair of third rotating members and one of the pair of fourth rotating members and the capstan of one of the plurality of operators A first cable for rotating each of the air, the other one of the pair of first rotating members and the other one of the pair of second rotating members, and the other one of the pair of third rotating members, and a pair of fourth rotations It consists of a second cable connected to the other of the members and to the capstan of the other of the plurality of operators to rotate each of them.

The surgical instrument of the present invention provides an advantage of forming a smaller diameter of the front idler pulley by forming a wrist joint on the rear idler pulley among the front idler pulley and the rear idler pulley, thereby providing a small diameter of the surgical instrument. In addition, by making the diameter of the front idler pulley small, the diameter of the capstan can be made large, so that the end operator can be finely operated by applying a small driving force with the cable, and the durability of the cable can be improved by reducing the driving force applied with the cable. It provides an advantage to improve the reliability of the surgical instrument.

1 is a view schematically showing the configuration of a conventional surgical instrument,

2 is an assembled perspective view of the surgical instrument of the present invention,

Figure 3 is an exploded perspective view of the surgical instrument shown in Figure 2,

4 is an exploded perspective view of the driving unit illustrated in FIG. 3;

5 is an enlarged perspective view of the support member shown in FIG. 4;

6 is an enlarged perspective view of the wrist member shown in FIG. 4;

7 is an enlarged perspective view of the driving unit illustrated in FIG. 3;

8 is a view showing an operating state of the driving unit shown in FIG.

9 is a view schematically showing the configuration of a surgical instrument of the present invention.

Referring to the surgical instrument according to an embodiment of the present invention with reference to the accompanying drawings as follows.

Figure 2 is an assembled perspective view of the surgical instrument of the present invention, Figure 3 is an exploded assembly perspective view of the surgical instrument shown in Figure 2, Figure 4 is an exploded assembly perspective view of the drive unit shown in FIG.

Surgical instruments of the present invention, as shown in Figures 2 to 4, consisting of a shaft 10 and a wrist-type instrument (not identified), the wrist-type instrument is a wrist member 20, a plurality of operators (30a, 30b) ) And the driving unit 40.

The shaft 10 generally supports the surgical instrument of the present invention, and the wrist member 20 is connected to the shaft 10 and the first pin 1 and a plurality of second pins 2 are installed. The plurality of

operators

30a and 30b are connected to the wrist member 20 and the third pin 3, respectively, and the driving unit 40 is installed on the first pin 1 and the plurality of second pins 2, respectively. To rotate the wrist member 20 to the yaw movement, or to rotate a plurality of operators (30a, 30b) in one direction, a pitch motion, respectively, to produce a forceps motion to rotate in a narrower or farther direction.

Detailed configurations of the shaft 10, the wrist member 20, the plurality of

operators

30a and 30b and the driving unit 40 are as follows.

The shaft 10 includes a hollow member 11, a support member 12, and a plurality of protruding members 13, as shown in FIGS. 3 and 5. Hollow member 11 supports the surgical instrument of the present invention as a whole, the support member 12 is inserted into the hollow member 11 is installed a plurality of guide holes (12a). The plurality of protruding members 13 are formed to face the support members 12, and insertion holes 13a are formed to insert and install the first pin 1.

Wrist member 20 is composed of a guide member 21, the wrist body 22 and a plurality of protruding members 23, as shown in Figs.

The guide member 21 has an insertion hole 21a formed to insert and install the first pin 1 inserted into the insertion hole 13a formed in the plurality of protruding members 13 of the shaft 10. Wrist body 22 is formed to extend to the guide member 21, a plurality of installation holes (22a) is formed. In addition, a plurality of insertion holes 22b are formed in the wrist body 22 so as to insert the second pins 2 communicating with the installation holes 22a, respectively. The plurality of protruding members 23 extend to the wrist body 22 so as to face each other, and an insertion hole 23a is formed to allow the third pin 3 to be inserted therein. Then, the plurality of insertion holes 22b formed in the wrist body 22 are inclined by the inclination angle θ shown in FIG. 8, respectively.

The plurality of

actuators

30a and 30b are each composed of a capstan 31, a protruding member 32, a fixing member 33 and an end operating member 34. Capstan 31 is installed in the third pin (3), the protruding member 32 is formed integrally with the capstan 31 and the insertion hole (32a) is formed. The fixing member 33 is fitted into the insertion hole 32a of the protruding member 32, the end operator 34 is installed in the capstan 31 is pitched by the rotation of the capstan 31.

As shown in FIGS. 3 to 8, the driving unit 40 includes a pair of first rotating members 41, a pair of second rotating members 42, a pair of third rotating members 43, and a pair of first It consists of a fourth rotating member 44, a first cable (47) (loop cable) and the second cable (46).

The pair of first rotating members 41 are installed on one of the plurality of second pins 2 installed on the wrist member 20, and the pair of second rotating members 42 are installed on the wrist member 20. It is installed on the other one of the plurality of second pins (2). The pair of first rotating members 41 and the pair of second rotating members 42 are installed to be inclined in the installation hole 22a formed in the wrist body 22. The pair of third rotating members 43 are installed on the first pin 1 so as to be located at one side of the wrist member 20, and the pair of fourth rotating members 44 are located at the other side of the wrist member 20. It is installed on the first pin 1 to be positioned.

The pair of first rotating members 41, the pair of second rotating members 42, the pair of third rotating members 43 and the pair of fourth rotating members 44 are installed to be adjacent to each other. It consists of a plurality of

idler pulleys

40a and 40b. The pair of first and second

rotating members

41 and 42 correspond to the front idler pulleys, and the pair of third and fourth

rotating members

43 and 44 correspond to the rear idler pulleys. In addition, the third rotating member 43 and the pair of fourth rotating members 44 are rotated so that the wrist member 20 has a pair of first rotating members when the yaw movement is performed with the first pin 1 as the axis. 41 and the pair of second rotating members 42 serve only as guides when adjusting the position of the first cable 46a or the second cable 47. That is, the third rotary member 43 and the pair of fourth rotary members 44 installed on the first pin 1 form a wrist joint W (shown in FIG. 3). As a result, the pair of first rotating members 41 and the pair of second rotating members 42 have a radius r2 (shown in FIG. 9), that is, the size of the radius r2 is a pair of third rotating members. It is formed smaller than the radius (r1) of the 43 and the pair of fourth rotating member 44, the radius (r2) of the pair of first rotating member 41 and the pair of second rotating member 42 The size of is formed to be 0.3 ~ 0.9 times than the radius (r1) of the pair of third rotating member 43 and the pair of fourth rotating member 44. Accordingly, the diameters of the first and second

rotating members

41 and 42 are smaller than the diameters of the third and fourth

rotating members

43 and 44.

The first cable 46 includes one of the pair of first rotating members 41 and one of the pair of second rotating members 42 and one of the pair of third rotating members 43 and a pair of first ones. One of the four rotating members 44 and one of the plurality of

actuators

30a and 30b are connected to the capstan 31 to rotate each. The first cable 46 is connected to one of the pair of first rotating members 41 and one of the pair of third rotating members 43 or one of the pair of second rotating members 42. When connected to one of the fourth rotating member 44 of the pair is alternately connected to the 'S' shape or inverted 'S' shape.

The second cable 47 is connected to the other of the pair of first rotating members 41 and the other of the pair of second rotating members 42 and the other of the pair of third rotating members 43. The other of the pair of fourth rotating members 44 and the capstan 31 of the other one of the plurality of

actuators

30a and 30b are connected to rotate each. The second cable 47 is connected to the other one of the pair of first rotating members 41 and the other of the pair of third rotating members 43 or the other of the pair of second rotating members 42. When connected to one of the other one of the pair of fourth rotating member 44 'S' shape or inverse 'S' shape are alternately connected.

The first cable 46 and the second cable 47 which are alternately connected as described above are respectively fixed to the capstan 31 by the fixing members of the

actuators

30a and 30b when the capstan 31 is connected to the capstan 31, and the shaft 10 It is inserted and installed to be guided to move in a plurality of guide holes (12a) formed in the support member 12 of the), the configuration of the first cable 46 and the second cable 47 in more detail as follows same.

The first cable 46 has two ends 46a, and one of the ends 46a is pulled in the direction of the arrow F to adjust the position of the cable 46a and to adjust the tension of the other. One of the pair of first rotating members 41 and one of the pair of second rotating members 42 and one of the pair of third rotating members 43 and one of the pair of fourth rotating members 44 And the capstan 31 of one of the plurality of

actuators

30a and 30b are sequentially rotated so that the

end actuators

30a and 30b are pitch-driven around the third pin 3. That is, the end operator 34 provided in one of the plurality of

actuators

30a and 30b is rotated in the direction of the arrow B with the third pin 3 as the axis to thereby rotate the plurality of

actuators

30a and 30b. Pitch motion in the direction of arrow B2 to narrow or widen with the end operator 34 provided in either.

The second cable 47 has two ends 46a, and one of the two ends 46a is pulled in the direction of the arrow F to adjust the position of the cable 47a and to adjust the tension of the other pair. The other one of the other one of the first rotating member 41 and the pair of second rotating members 42 and the other of the pair of third rotating members 43 and the pair of fourth rotating members 44 The capstan 31 of the other of the other and the plurality of

actuators

30a and 30b is sequentially rotated so that the end operator 34 is pitched around the third pin. That is, the end operator 34 provided in the other one of the plurality of

actuators

30a and 30b is rotated in the direction of the arrow B with the third pin 3 as the axis, thereby allowing the plurality of

actuators

30a and 30b to operate. Pitch movement in the direction of arrow B3 so as to narrow or widen with the end operator 34 provided in one of the?

The first cable 46 and the second cable 47, which move in a narrowing or spreading direction, are either one of both ends 46a of the first cable 46 and both ends 47a of the second cable 47. Pull one of them to adjust the position of the

cables

46a, 47a or the other of both

ends

46a, 47a of the first cable 46 and the other of both

ends

46a, 47a of the second cable 47 Adjusting the tension of the end operator 34, which is provided in each of the plurality of actuators (30a, 30b) is rotated in the direction of the arrow (B1) at the same time to the pitch movement. That is, the end operator 34 provided in each of the plurality of

actuators

30a and 30b has a pair of first rotating members 41 and a pair of second rotating members 42 and a pair of third rotations. The member 43, the pair of fourth rotating members 44, and the capstans 31 of the plurality of

actuators

30a and 30b are sequentially rotated to simultaneously pitch movement about the third pin 3 as an axis.

The first cable 46 and the second cable 47 pull both ends 46a of the first cable 46 to adjust the position of the cable 46a, and both ends 47a of the second cable 47. To adjust the tension, or conversely, pull both ends 47a of the second cable 47 to adjust the position of the cable 47a and to adjust the tension of both ends 46a of the first cable 46. The pair of third rotary members 43 and the pair of fourth rotary members 44 are rotated so that the wrist member 20 is yaw-moved around the first pin 1. That is, the wrist member 20 is rotated in the direction of the arrow (A) with the first pin (1) as the axis of the yaw movement to bend or stretch.

The drive unit 40 for driving the pitch motion or yaw motion further includes a cable drive source 48. The cable drive source 48 is connected to the first cable 46 and the second cable 47, respectively, to adjust the position and tension of the first cable 46 and the second cable 47. The cable drive source 48 is composed of a plurality of first motors 48a and a plurality of second motors 48b.

The plurality of first motors 48a are connected to the first cables 46, respectively, to adjust the position or tension of the cables. That is, the plurality of first motors 48a are connected to both ends 46a of the first cable 46, respectively, and both ends 46a are individually pulled in the direction of the arrow F or the tension is adjusted. The plurality of second motors 48b are respectively connected to the second cables 47 to adjust position or tension. The plurality of second motors 48b are connected to both ends 47a of the second cable 47, respectively, and pull both ends 47a in the direction of an arrow F or adjust tension. The tension is adjusted by adjusting the rotational speed of the first motor 48a or the second motor 48b.

Referring to Figures 3, 6 to 9 attached to the effect of the surgical instrument of the present invention having the above configuration as follows.

First, the pitch motion of the end operator 34 is described as follows.

Pulling one of both ends 46a constituting the first cable 46 in the direction of an arrow F adjusts the position of the cable 46a, and adjusts the tension of the other end 46a, thereby the first cable 46 One of the plurality of first rotating members 41 and one of the plurality of second rotating members 42 and one of the plurality of third rotating members 43 and one of the plurality of fourth rotating members 44 connected to And one of the plurality of

operators

30a, 30b is rotated so that the end operator 34 makes a pitch motion.

On the contrary, when one of the ends 47a constituting the second cable 47 is pulled in the direction of the arrow F to adjust the position, and the tension of the other end 47a is adjusted, a plurality of ends connected to the second cable 46 are connected. Another one of the first rotating member 41 and the other of the plurality of second rotating members 42 and the other of the plurality of third rotating members 43 and the other of the plurality of fourth rotating members 44 The other of the plurality of

operators

30a, 30b is rotated so that the end operator 34 makes a pitch motion.

In the case of simultaneously moving the plurality of end operators 34 in one direction, one of the

ends

46a and 47a provided at each of the first cable 46 and the second cable 47 may be pulled simultaneously to adjust the position. When the other tension is adjusted at the same time, a plurality of end actuators 34 simultaneously move in one direction to achieve the pitch movement of the operator. In addition, if one of the two ends (46a, 47a) of each of the first cable 46 and the second cable 47 is positioned to a different degree, the difference will have the effect that the end operator is open to each other. In this way the operator's forceps are achieved.

The yaw motion following the pitch motion of the surgical instrument of the present invention is as follows.

The yaw movement first pulls one of the first cable 46 and the second cable 47 to adjust the position of one of the first cable 46 and the second cable 47, and to adjust the tension of the other wrist The member 20 is yawed. During the yaw movement, the pair of first rotating members 41 and the pair of second rotating members 42 are not rotated and are fixed to the second pin 2 to serve only as guides. In this state, the pair of third rotating members 43 and the pair of fourth rotating members 44 are rotated in the direction of the arrow A with the first pin 1 as the axis, thereby requiring the wrist member 20. Exercised. That is, the pair of third rotating members 43 and the pair of fourth rotating members 44 make the wrist member 20 yaw as the wrist joint W (shown in FIG. 3).

When the pair of third rotating members 43 and the pair of fourth rotating members 44 are wrist joints (W: shown in FIG. 3), the pair of first rotating members 41 and the pair The second rotary member 42 of the pair serves only as a guide when adjusting the position of the first cable 46 and the second cable 47, the pair of first rotary member 41 and the pair of second rotary member 42 The radius r2 (shown in FIG. 9) can be made small. When the radius r2 of the pair of first rotating members 41 and the pair of second rotating members 42 is reduced, the distance g2 between the capstans 31 is reduced. When the distance g2 between the plurality of capstans 31 becomes small, the diameter d4 of the capstan 31 can be made large to drive the pitch movement of the end operator 34 with a smaller driving force. You can do it.

That is, when the diameter (d3) of the surgical instrument of the present invention and the diameter (d1: shown in Figure 1) of the conventional surgical instrument is the same, the radius of the pair of first and second rotating members (41, 2) ( When r2) is made small, the diameter d4 of the capstan 31 of the present invention can be made larger than the diameter d2 (shown in FIG. 1) of the conventional capstan 112 (shown in FIG. 1). Compared to the surgical instrument, the surgical instrument of the present invention can drive the end operator 34 with less driving force, thereby enabling fine manipulation.

In addition, the surgical tool of the present invention is able to drive the end operator 34 with less driving force is less the tension applied to the first cable 46 and the second cable 47 surgery due to increased durability It is possible to improve the reliability of the apparatus.

Surgical instruments of the present invention can be widely applied in the field of laparoscopic surgery or surgical robot.

Claims

A shaft;

A wrist consisting of a guide member, a plurality of installation holes, a wrist body having a plurality of insertion holes communicating with each of the installation holes, and a plurality of protruding members formed opposite to the wrist body and having insertion holes. A member;

A capstan, a protruding member integrally formed with the capstan, a fixing member fitted to the protruding member, and an end operator pitched by rotation of the capstan, and a plurality of effectors connected to the wrist member. Wow;

A pair of first and second rotating members, third and fourth rotating members having a diameter smaller than a diameter of the first and second rotating members, and a driving unit including first and second cables, ,

The drive unit is configured to rotate the wrist member to yaw movement, rotate the plurality of operators in one direction to pitch movement, each of which is configured to perform a forceps movement by rotating in a narrower or farther direction.
The method of claim 1, wherein the shaft is a hollow member; A support member installed in the hollow member and having a plurality of guide holes formed therein; Surgical instruments are formed to face the support member, characterized in that consisting of a plurality of protruding members each having an insertion hole for the first pin is installed.
According to claim 1, wherein the plurality of insertion holes formed in the wrist body of the wrist member is a surgical instrument, characterized in that each formed inclined.
The method of claim 1, wherein the pair of first rotating members of the driving unit is installed on one of the plurality of second pins provided on the wrist member, the pair of second rotating members of the plurality of second pins installed on the wrist member Is installed on the other, a pair of third rotating member is installed on the first pin to be located on one side of the wrist member, a pair of fourth rotating member is installed on the first pin to be located on the other side of the wrist member Surgical instruments characterized in that.
The method of claim 1, wherein the first cable of the drive unit is connected to one of the pair of first to fourth rotating members and the capstan of one of the plurality of actuators to rotate each, the second cable is a pair of first Surgical instrument characterized in that it is connected to the capstan of the other of the plurality of operators and the other of the first to fourth rotating member is configured to rotate each.
The surgical instrument of claim 1, wherein the pair of first and second rotating members of the driving unit are inclinedly installed in an installation hole formed in a wrist body.
The surgical instrument of claim 1, wherein the pair of first to fourth rotating members are installed to be adjacent to each other, and are formed of a plurality of idler pulleys.
According to claim 1, wherein the size of the radius of the pair of the first rotary member and the pair of the second rotary member of the drive unit is 0.3 ~ 0.9 than the radius of the pair of the third rotary member and the pair of fourth rotating member. Surgical instruments, characterized in that formed to be doubled.
The method of claim 1, wherein the first and second cables of the drive unit are respectively fixed to the capstan by the fixing member of the operator when connected to the capstan, is inserted and installed to be guided and moved in a plurality of guide holes formed in the support member of the shaft Surgical instruments, characterized in that.
The first cable of claim 1, wherein the first cable of the driving unit is connected to one of the pair of first rotating members and one of the pair of third rotating members, or one of the pair of second rotating members and the pair of fourths. Surgical instrument, characterized in that the staggered 'S' or inverted 'S' shape when connected to one of the rotating members.
The second cable of claim 1, wherein the second cable of the driving unit is connected to the other one of the pair of first rotating members and the other of the pair of third rotating members, or to the other one of the pair of second rotating members. When connected to the other one of the fourth rotating member of the surgical instrument, characterized in that the staggered connection in the 'S' shape or inverse 'S' shape.
The method of claim 1, wherein the first cable of the driving unit is composed of a pair of cables connected to each other, the pair of cables by pulling one of the pair of cables to adjust the position of the cable and adjust the tension of the other pair One of the first rotating member and one of the pair of second rotating members and one of the pair of third rotating members and one of the pair of fourth rotating members and one of the plurality of operators are sequentially rotated Surgical instrument characterized in that the end operator is pitch movement about the third pin.
The method of claim 1, wherein the second cable of the driving unit is composed of a pair of cables connected to each other, the pair of cables by pulling one of the pair of cables to adjust the position of the cable and adjust the tension of the other pair The other of the first rotating member and the other of the pair of second rotating members and the other of the pair of third rotating members and the other of the pair of fourth rotating members and the other of the plurality of operators The sequentially rotated surgical instrument characterized in that the end operator is a pitch movement around the third pin.
The cable of claim 1, wherein each of the first and second cables of the driving unit comprises a pair of cables connected to each other, and a position of the cable is pulled by pulling one of both ends of the first cable and one of both ends of the second cable. Or adjust the tension of the other of both ends of the first cable and the other of both ends of the second cable, the pair of first rotating member, the pair of second rotating member and the pair of third rotating member And the pair of fourth rotating members and the capstans of the plurality of operators are sequentially rotated, and the end actuators provided to the plurality of actuators respectively with the third pin as the axis move in one direction at the same time. Surgical instruments characterized in that the forceps to be determined.
The method of claim 1, wherein the first and second cables of the driving unit are each composed of a pair of cables connected to each other, by pulling both ends of the first cable to adjust the position of the cable and the both ends of the second cable Adjusting the tension or pulling both ends of the second cable to adjust the position of the cable and adjusting the tension of both ends of the first cable is rotated with a pair of third rotating member and a pair of fourth rotating member to the wrist member Surgical instrument characterized in that the yaw movement with the first pin as the axis.
A shaft;

A wrist member connected to the shaft and first pins and having a plurality of second pins installed therein;

A plurality of operators each connected to the wrist member and a third pin;

It is installed on the first pin and the plurality of second pins, respectively, and the pitch member to rotate the wrist member to rotate the yaw movement or a plurality of operators respectively, consisting of a drive unit for moving the forceps to rotate in a direction narrowed or far from each other. ,

The driving unit includes a pair of first rotating members installed on one of the plurality of second pins installed on the wrist member, and a pair of second rotating members installed on the other one of the plurality of second pins installed on the wrist member. And a pair of third rotating members installed on the first pin to be located at one side of the wrist member, a pair of fourth rotating members installed at the first pin to be located at the other side of the wrist member, and the one One of the pair of first rotary members and one of the pair of second rotary members and one of the pair of third rotary members and one of the pair of fourth rotary members and one of the plurality of operators A first cable for rotating each of the other one of the pair of first rotating members and the other one of the pair of second rotating members and the other of the pair of third rotating members and the pair of fourth rotating members Caps of one of the other and of the multiple operators Is connected to the surgical instrument, it characterized in that comprising a second cable for rotating each.
17. The surgical instrument of claim 16, wherein the pair of first and second rotary members of the drive unit are inclinedly installed in an installation hole formed in the wrist body.
17. The surgical instrument of claim 16, wherein an idler pulley is applied to each of the pair of first to fourth rotating members of the driving unit.
The method of claim 16, wherein the size of the radius of the pair of first and second rotating members of the drive unit is smaller than the radius of the pair of third and fourth rotating members, the pair of first and second Surgical instrument is characterized in that the size of the radius of the rotating member is formed to be 0.3 ~ 0.9 times the radius of the pair of the third and fourth rotating member.
The surgical instrument of claim 16, wherein the driving unit further comprises a cable driving source connected to the first cable and the second cable, respectively, to adjust the position and adjust the tension of the first cable and the second cable. .
21. The apparatus of claim 20, wherein the cable driving source comprises: a plurality of first motors connected to the first cable to adjust the position or tension of the cable;

Surgical instruments, characterized in that composed of a plurality of second motors connected to the second cable to adjust the position or tension, respectively.