Instrument for surgery
Provided is an instrument for surgery and, more specifically, to an instrument for surgery which can be manually operated in order to be used for laparoscopic surgery or various types of surgery.
1. An end tool of a surgical instrument, the end tool comprising:
when a certain direction from the end tool toward a manipulation part is one side and a direction opposite to the certain direction is the other side,
a first jaw and a second jaw configured to rotate independently;
a J 11 pulley coupled to the first jaw and configured to rotate around a first axis formed at an end tool hub;
a J 12 pulley and a J 14 pulley formed at one side of the J 11 pulley and configured to rotate around a third axis formed at a predetermined angle with the first axis and formed at one side of the end tool hub, the J 12 pully and J 14 pulley being formed adjacent to each other;
a J 21 pulley coupled to the second jaw and configured to rotate around an axis that is substantially identical to or parallel to the first axis; and
a J 22 pulley and a J 24 pulley formed at one side of the J 21 pulley and configured to rotate around an axis that is substantially identical to or parallel to the third axis, the J 21 pulley and the J 24 pulley being formed adjacent to each other,
wherein a first jaw wire is configured to at least partially contact the J 12 pulley, the J 11 pulley, and the J 14 pulley, and
a second jaw wire is configured to at least partially contact the J 22 pulley, the J 21 pulley, and the J 24 pulley,
wherein, based on a first plane perpendicular to the first axis and passing between the J 11 pulley and the J 21 pulley,
two strands of the first jaw wire coupled to the J 11 pulley contact one side from among an upper side and a lower side of the J 12 pulley and J 14 pulley, and
two strands of the second jaw wire coupled to the J 21 pulley contact one side from among an upper side and a lower side of the J 22 pulley and J 24 pulley, which is different from the one side from among the upper side and the lower side of the J 12 pulley and J 14 pulley,
wherein the J 11 pulley and the J 21 pulley are spaced apart from each other by a certain distance in a direction of the first axis to form a certain space between the J 11 pulley and the J 21 pulley.
2. The end tool of claim 1 , wherein the first axis and the third axis are configured to be substantially perpendicular to each other.
3. The end tool of claim 1 , wherein
the first jaw wire is fixedly coupled to the J 11 pulley, and
the second jaw wire is fixedly coupled to the J 21 pulley.
4. The end tool of claim 1 , wherein a connector hub is configured to rotate around the third axis with respect to the end tool hub at one side of the end tool hub, and
the J 12 pulley, the J 14 pulley, the J 22 pulley, and the J 24 pulley are formed on a common axis of the end tool hub and the connector hub.
5. The end tool of claim 4 , wherein, at the connector hub,
a J 13 pulley and a J 15 pulley are configured to rotate around an axis that is substantially parallel to the third axis, and
a J 23 pulley and a J 25 pulley are configured to rotate around the axis that is substantially parallel to the third axis.
6. The end tool of claim 5 , wherein
the first jaw wire is configured to pass between the J 12 pulley and the J 13 pulley, and
the second jaw wire is configured to pass between the J 22 pulley and the J 23 pulley.
7. The end tool of claim 4 , wherein, based on the first plane,
one strand of the first jaw wire from among the two strands of the first jaw wire coupled to the J 11 pulley sequentially contacts a lower side of the J 12 pulley and an upper side of the J 13 pulley, and
the other strand of the first jaw wire from among the two strands of the first jaw wire coupled to the J 11 pulley sequentially contacts a lower side of the J 14 pulley and an upper side of the J 15 pulley.
8. The end tool of claim 4 , wherein, based on the first plane,
one strand of the second jaw wire from among the two strands of the second jaw wire coupled to the J 21 pulley sequentially contacts an upper side of the J 22 pulley and a lower side of the J 23 pulley, and
the other strand of the second jaw wire from among the two strands of the second jaw wire coupled to the J 21 pulley sequentially contacts an upper side of the J 24 pulley and a lower side of the J 25 pulley.
9. The end tool of claim 1 , wherein, from a proximal portion to a distal portion of the end tool,
the two strands of the first jaw wire coupled to the J 11 pulley are wound around the J 12 pulley and the J 14 pulley in a first direction from among a clockwise direction and a counterclockwise direction, and
the two strands of the second jaw wire coupled to the J 21 pulley are wound around the J 22 pulley and the J 24 pulley in a direction different from the first direction.
10. The end tool of claim 1 , further comprising:
a J 16 pulley formed between the J 11 pulley, the J 12 pulley, and the J 14 pulley and configured to rotate around a second axis at one side of the first axis; and
a J 26 pulley formed between the J 21 pulley, the J 22 pulley, and the J 24 pulley and configured to rotate around an axis that is substantially identical to or parallel to the second axis.
11. The end tool of claim 10 , wherein
the first jaw wire is located on an internal tangent of the J 11 pulley and the J 16 pulley, and
the second jaw wire is located on an internal tangent of the J 21 pulley and the J 26 pulley.
12. The end tool of claim 10 , wherein
any one side of the first jaw wire wound around the J 11 pulley is configured to pass between the J 11 pulley and the J 16 pulley, and
any one side of the second jaw wire wound around the J 21 pulley is configured to pass between the J 21 pulley and the J 26 pulley.
13. The end tool of claim 10 , wherein the first jaw wire and the J 11 pulley are fixedly coupled by a coupler,
wherein a path of the first jaw wire is changed to some degree by the J 16 pulley to increase a rotation angle of the coupler.
14. The end tool of claim 13 , wherein the coupler of the first jaw wire and the J 11 pulley is rotatable until the coupler is located on an internal common tangent of the J 11 pulley and the J 16 pulley.
15. The end tool of claim 10 , wherein the first axis and the second axis are parallel to each other,
wherein, based on a first plane perpendicular to the first axis and comprising the third axis, two strands of the first jaw wire coupled to the J 11 pulley contact a same side from among the upper side and the lower side of the J 12 pulley and the J 14 pulley.
16. The end tool of claim 1 , wherein
the J 12 pulley and the J 14 pulley are located at one side of a direction of the third axis, based on a plane perpendicular to the third axis and passing the first axis, and
the J 22 pulley and the J 24 pulley are located at the other side opposite to the one side of the direction of the third axis, based on the plane perpendicular to the third axis and passing the first axis.