SURGICAL INSTRUMENT
First Claim
1. A surgical instrument, comprising:
- a shaft;
a wrist member comprising a guide member, a wrist body connected to the guide member and formed with a plurality of installation holes, and a plurality of protruding members each disposed to face the wrist body and having an insertion groove, and connected to the shaft;
a plurality of effectors each comprising a capstan, a protruding member integrally formed with the capstan and formed with an insertion hole, a fixing member inserted into the insertion hole of the protruding member, and an end effector formed on the capstan to perform a pitch motion by rotation of the capstan, and connected to the wrist member by a pin;
a support driving unit having first through fourth rotation members inserted into pins that are mounted on the wrist member, respectively, and each comprising a pair of idler pulleys, and first and second wires connected to the plurality of effectors and the first through fourth rotation members, respectively;
a main driving unit connected to the support driving unit by wire and having at least one driving unit,wherein the main driving unit enables the entire wrist member to perform a yaw motion by rotating the entire wrist member, and enables the plurality of effectors to perform a pitch motion by simultaneously rotating the plurality of effectors into a single direction, and enables the plurality of effectors to perform a forceps motion of rotating into a direction increasing or decreasing a distance between the plurality of effectors.
1 Assignment
0 Petitions
Accused Products
Abstract
Provided is a surgical instrument, including: a shaft; a wrist member including a guide member, a wrist body connected to the guide member and formed with a plurality of installation holes, and a plurality of protruding members each disposed to face the wrist body and having an insertion groove, and connected to the shaft; a plurality of effectors each connected to the wrist member by a pin; a support driving unit having first through fourth rotation members inserted into pins that are mounted on the wrist member, respectively, and each first and second wires connected to the plurality of effectors and the first through fourth rotation members, respectively; a main driving unit connected to the support driving unit by wire and having at least one driving unit. The main driving unit enables the entire wrist member to perform a yaw motion by rotating the entire wrist member, and enables the plurality of effectors to perform a pitch motion by simultaneously rotating the plurality of effectors into a single direction, and enables the plurality of effectors to perform a forceps motion of rotating into a direction increasing or decreasing a distance between the plurality of effectors.
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Citations
23 Claims
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1. A surgical instrument, comprising:
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a shaft; a wrist member comprising a guide member, a wrist body connected to the guide member and formed with a plurality of installation holes, and a plurality of protruding members each disposed to face the wrist body and having an insertion groove, and connected to the shaft; a plurality of effectors each comprising a capstan, a protruding member integrally formed with the capstan and formed with an insertion hole, a fixing member inserted into the insertion hole of the protruding member, and an end effector formed on the capstan to perform a pitch motion by rotation of the capstan, and connected to the wrist member by a pin; a support driving unit having first through fourth rotation members inserted into pins that are mounted on the wrist member, respectively, and each comprising a pair of idler pulleys, and first and second wires connected to the plurality of effectors and the first through fourth rotation members, respectively; a main driving unit connected to the support driving unit by wire and having at least one driving unit, wherein the main driving unit enables the entire wrist member to perform a yaw motion by rotating the entire wrist member, and enables the plurality of effectors to perform a pitch motion by simultaneously rotating the plurality of effectors into a single direction, and enables the plurality of effectors to perform a forceps motion of rotating into a direction increasing or decreasing a distance between the plurality of effectors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A surgical instrument, comprising:
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a shaft; a wrist member comprising a guide member, a wrist body connected to the guide member and formed with a plurality of installation holes, and a plurality of protruding members each disposed to face the wrist body and having an insertion groove, and connected to the shaft; a plurality of effectors each connected to the wrist member by a pin; a support driving unit having first through fourth rotation members inserted into pins that are mounted on the wrist member, respectively, and first and second wires sequentially connected to the plurality of effectors and the first through fourth rotation members, respectively; and a main driving unit comprising a first main driving unit connected to the first and second wires to enable the plurality of effectors to perform a pitch motion by simultaneously rotating the plurality of effectors into a single direction, a second main driving unit mounted on front or rear of the first main driving unit and connected to the first wire through the first main driving unit, and a third main driving unit disposed to face the second main driving unit and connected to the second wire through the first main driving unit, and the main driving unit connected to the support driving unit using a wire and mounted to be twisted at a predetermined angle with respect to the plurality of effectors, wherein the second main driving unit and the third main driving unit of the main driving unit rotate into the same direction to thereby enable the entire wrist member to perform a yaw motion by rotating the entire wrist member, or rotate into different directions to thereby enable the plurality of effectors to perform a forceps motion of rotating into a direction increasing or decreasing a distance between the plurality of effectors. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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22. A surgical instrument, comprising:
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a plurality of effectors; a wrist member comprising a guide member, a wrist body connected to the guide member and formed with a plurality of installation holes, and a plurality of protruding members each disposed to face the wrist body and having an insertion groove, and connected to the effector; a shaft comprising a hollow member, a support member connected to the hollow member, and a protruding member formed on each of both sides of the support member, and connected to the wrist member; a support driving unit comprising a pair of rotation members and at least one wire; and a main driving unit having a plurality of driving units for operating the at least one wire of the support driving unit, wherein the main driving unit comprises a first main driving unit connected to the first and second wires to enable the plurality of effectors to perform a pitch motion by simultaneously rotating the plurality of effectors into a single direction, a second main driving unit mounted on front or rear of the first main driving unit and connected to the first wire through the first main driving unit, and a third main driving unit disposed to face the second main driving unit and connected to the second wire through the first main driving unit, and the main driving unit is connected to the support driving unit using a wire and mounted to be twisted at a predetermined angle with respect to the plurality of effectors, the main driving unit comprises a pair of first and second rotation guide members connected to the first and second wires, respectively, a pair of first through fourth support rotation guide members mounted on front and rear of the first and second rotation guide members, respectively, and a linear motion member mounted on each of both sides of each of the first and second rotation guide members to perform a linear motion, and enabling the plurality of effectors to perform the pitch motion by adjusting a loop position of the first and second wires and thereby simultaneously rotating the plurality of effectors into a single direction, each of the second and third main driving units comprises a second rotation shaft mounted on front or rear of the first main driving unit and a pulley connected to the second rotation shaft and rotating by rotation of the second rotation shaft to adjust a position of the first wire or the second wire, and a diameter of the first and second rotation members of the driving unit is formed to be less than a diameter of the third and fourth rotation members in order to decrease a diameter of a capstan.
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23. A surgical instrument, comprising:
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a plurality of effectors each comprising a capstan, a protruding member integrally formed with the capstan and formed with an insertion hole, and a fixing member inserted into the insertion hole of the protruding member; a wrist member comprising a guide member, a wrist body connected to the guide member and formed with a plurality of installation holes, and a plurality of protruding members each disposed to face the wrist body and having an insertion groove, and connected to the effector; a shaft comprising a hollow member, a support member connected to the hollow member, and a protruding member formed on each of both sides of the support member, and connected to the wrist member; a support driving unit comprising a pair of plural rotation members and at least one wire; and a main driving unit having a plurality of driving units for operating the at least one wire of the support driving unit, wherein the main driving unit comprises a first main driving unit connected to the first and second wires to enable the plurality of effectors to perform a pitch motion by simultaneously rotating the plurality of effectors into a single direction, a second main driving unit mounted on front or rear of the first main driving unit and connected to the first wire through the first main driving unit, and a third main driving unit disposed to face the second main driving unit and connected to the second wire through the first main driving unit, and the main driving unit is connected to the support driving unit, the main driving unit comprises a pair of first rotation guide members connected to the first wire, a pair of second rotation guide members connected to the second wire, and a seesaw motion member mounted on both sides of each of the pair of first rotation guide members and the pair of second rotation guide members to perform a seesaw motion by rotation of a first rotation shaft, and enabling the plurality of effectors to perform the pitch motion by adjusting a loop position of the first wire and the second wire to thereby simultaneously rotate the plurality of effectors into a single direction, and the main driving unit is twisted by 90 degrees with respect to either the plurality of effectors or the wrist member and thereby is mounted.
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Specification