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 instrument for surgery comprising:
an end tool comprising at least one jaw, and an end tool jaw pulley coupled to the at least one jaw and configured to rotate around a jaw rotation shaft, the end tool configured to rotate in at least one directions;
a manipulation part configured to control rotation of the end tool in the at least one direction, the manipulation part comprising
a yaw manipulation part configured to control a yaw motion of the end tool, the yaw manipulation part comprising a manipulation part yaw pulley configured to rotate around a yaw rotation shaft;
a power transmission part connected to the manipulation part, the power transmission part comprising at least one jaw wire configured to transmit rotation of the manipulation part to the at least one jaw; and
a connecting part extending in a first direction (X axis), the connecting part being coupled to the end tool at an end portion thereof and coupled to the manipulation part at another end portion thereof so as to connect the manipulation part to the end tool,
wherein the end tool jaw pulley and the manipulation part yaw pulley have different diameters.
2. The instrument of claim 1 , wherein
the diameter of the end tool jaw pulley is smaller than the diameter of the manipulation part yaw pulley.
3. The instrument of claim 2 , wherein
the ratio of the diameter of the end tool jaw pulley to the diameter of the manipulation part yaw pulley is greater than or equal to (1:1.5) and less than or equal to (1:4.5).
4. The instrument of claim 1 , wherein
the end tool jaw pulley and the manipulation part yaw pulley are connected through the at least one jaw wire, and
the rotation angle of the manipulation part yaw pulley and the rotation angle of the end tool jaw pulley when the at least one jaw wire moves are different.
5. The instrument of claim 4 , wherein
the rotation angle of the end tool jaw pulley is greater than the rotation angle of the manipulation part yaw pulley.
6. The instrument of claim 5 , wherein
the ratio of the rotation angle of the manipulation part yaw pulley to the rotation angle of the end tool jaw pulley is greater than or equal to (1:1.5) and less than or equal to (1:4.5).
7. The instrument of claim 1 , wherein
the end tool comprises a first jaw and a second jaw, and
the manipulation part further comprises an actuation manipulation part provided at a side of the yaw manipulation part and configured to control an actuation motion of the end tool, the actuation manipulation part comprising manipulation part actuation pulley configured to rotate around an actuation rotation shaft.
8. The instrument of claim 7 , wherein
the diameter of the end tool jaw pulley is less than the diameter of the manipulation part actuation pulley.
9. The instrument of claim 8 , wherein
the ratio of the diameter of the end tool jaw pulley to the diameter of the manipulation part actuation pulley is greater than or equal to (1:1.5) and less than or equal to (1:4.5).
10. The instrument of claim 7 , wherein
the end tool jaw pulley and the manipulation part actuation pulley are connected through the at least one jaw wire, and
the rotation angle of the manipulation part actuation pulley and the rotation angle of the end tool jaw pulley when the at least one jaw wire moves are different.
11. The instrument of claim 10 , wherein
the rotation angle of the end tool jaw pulley is greater than the rotation angle of the manipulation part actuation pulley.
12. The instrument of claim 11 , wherein
the ratio of the rotation angle of the manipulation part actuation pulley to the rotation angle of the end tool jaw pulley is greater than or equal to (1:1.5) and less than or equal to (1:4.5).
13. The instrument of claim 1 , wherein
the manipulation part further comprising a first handle, and
the yaw manipulation part is directly connected to the first handle.
14. The instrument of claim 1 , wherein
the connecting part comprises a bent part connecting the end tool to the manipulation part and being bent at least once.
15. An instrument for surgery comprising:
an end tool comprising at least one jaw, and an end tool pitch pulley provided at a side of the jaw and configured to rotate around an end tool pitch rotation shaft, the end tool configured to rotate in at least one directions;
a manipulation part configured to control rotation of the end tool in the at least one direction, the manipulation part comprising
a pitch manipulation part configured to control a pitch motion of the end tool, the pitch manipulation part comprising a manipulation part pitch pulley configured to rotate around a pitch rotation shaft;
a power transmission part connected to the manipulation part, the power transmission part comprising at least one jaw wire configured to transmit rotation of the manipulation part to the at least one jaw; and
a connecting part extending in a first direction (X axis), the connecting part being coupled to the end tool at an end portion thereof and coupled to the manipulation part at another end portion thereof so as to connect the manipulation part to the end tool,
wherein
the end tool pitch pulley and the manipulation part pitch pulley have different diameters.
16. The instrument of claim 15 , wherein
the diameter of the end tool pitch pulley is smaller than the diameter of the manipulation part pitch pulley.
17. The instrument of claim 16 , wherein
the ratio of the diameter of the end tool pitch pulley to the diameter of the manipulation part pitch pulley is greater than or equal to (1:1.5) and less than or equal to (1:4.5).
18. The instrument of claim 15 , wherein
the end tool pitch pulley and the manipulation part pitch pulley are connected through the at least one jaw wire, and
the rotation angle of the manipulation part pitch pulley and the rotation angle of the end tool pitch pulley when the at least one jaw wire moves are different.
19. The instrument of claim 18 , wherein
the rotation angle of the end tool pitch pulley is greater than the rotation angle of the manipulation part pitch pulley.
20. The instrument of claim 19 , wherein
the ratio of the rotation angle of the manipulation part pitch pulley to the rotation angle of the end tool pitch pulley is greater than or equal to (1:1.5) and less thana or equal to (1:4.5).