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:
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 16 pulley formed at one side of the J 11 pulley and configured to rotate around a second axis formed at one side of the first axis;
a J 12 pulley and a J 14 pulley formed at one side of the J 16 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;
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;
a J 26 pulley formed at one side of the J 21 pulley and configured to rotate around a fourth axis formed at one side of the first axis; and
a J 22 pulley and a J 24 pulley formed at one side of the J 26 pulley and configured to rotate around an axis that is substantially identical to or parallel to the third axis,
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,
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,
at the connector hub,
a J 13 pulley and a J 15 pulley are configured to rotate around an axis substantially parallel to the third axis, and
a J 23 pulley and a J 25 pulley are configured to rotate around the axis substantially parallel to the third axis,
a first jaw wire is configured to at least partially contact the J 13 pulley, the J 12 pulley, the J 11 pulley, the J 16 pulley, the J 14 pulley, and the J 15 pulley,
a second jaw wire is configured to at least partially contact the J 23 pulley, the J 22 pulley, the J 21 pulley, the J 26 pulley, the J 24 pulley, and the J 25 pulley,
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.
2. The end tool of claim 1 , wherein
the J 16 pulley is disposed at an opposite side of the first jaw and the second jaw with respect to the J 11 pulley, and
the J 26 pulley is disposed at an opposite side of the first jaw and the second jaw with respect to the J 21 pulley.
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 diameter of the J 16 pulley is smaller than a diameter of the J 11 pulley, and
a diameter of the J 26 pulley is smaller than a diameter of the J 21 pulley.
5. The end tool of claim 1 , wherein, with respect to the first jaw wire or the second jaw wire, a pitch motion of the end tool is performed by pulling both sides of a wire wound around the end tool.
6. The end tool of claim 1 , wherein, with respect to the first jaw wire or the second jaw wire, a yaw motion or an actuation motion of the end tool is performed by pulling one side of a wire wound around the end tool and pushing the other side thereof.
7. The end tool of claim 1 , 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.
8. The end tool of claim 1 , wherein
the J 12 pulley and the J 13 pulley are arranged at one side based on a plane perpendicular to the third axis and passing through the first axis, and
the J 22 pulley and the J 23 pulley are arranged at the other side based on the plane perpendicular to the third axis and passing through the first axis.
9. The end tool of claim 1 , wherein
the J 14 pulley and the J 15 pulley are arranged at one side based on a plane perpendicular to the third axis and passing through the first axis, and
the J 24 pulley and the J 25 pulley are arranged at the other side based on the plane perpendicular to the third axis and passing through the first axis.
10. The end tool of claim 1 , wherein the J 11 pulley and the J 16 pulley are arranged on a same plane perpendicular to the first axis.
11. The end tool of claim 1 , 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.