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JP-2026076353-A - Endoscopic tools and electrocautery surgical instruments for surgical instruments

JP2026076353AJP 2026076353 AJP2026076353 AJP 2026076353AJP-2026076353-A

Abstract

[Problem] This invention relates to an electrocautery surgical instrument that can be attached to a robotic arm or operated manually for use in laparoscopic surgery or various other surgical procedures. [Solution] The end tool includes a first jaw 101 and a second jaw 102 that can rotate independently of each other, a first jaw pulley that performs the yaw motion of the end tool 100, a second jaw pulley that performs the yaw motion and actuation motion of the end tool, an end tool hub 160 through which a first rotation axis is inserted at one end and a third rotation axis different from the first rotation axis is inserted at the other end, and which houses at least a portion of the first and second jaw pulleys, a blade formed to be movable between the proximal and distal portions of the first or second jaw, a guide tube 171 formed to extend through the end tool hub toward the blade, and a blade wire that transmits the driving force necessary for the movement of the blade to the blade, with at least a portion of it being located within the guide tube. [Selection Diagram] Figure 3

Inventors

  • イ、ジョンジュ
  • キム、ヒジン
  • ジャン、ドンキュ

Assignees

  • リブスメド インコーポレーテッド

Dates

Publication Date
20260511
Application Date
20260218
Priority Date
20210716

Claims (20)

  1. In endo-tools of surgical instruments, A first jaw and a second jaw that can rotate independently of each other, A first jaw pulley is connected to the first jaw and is formed to allow the end tool to perform a yaw motion by rotating around a first rotation axis, A second jaw pulley is connected to the second jaw and is formed to allow the yaw motion and actuation motion of the end tool by rotating about an axis substantially identical to or parallel to the first rotation axis, An end tool hub is provided, in which the first rotating shaft is inserted through one end, and a third rotating shaft, different from the first rotating shaft, is inserted through the other end, and at least a portion of the first jaw pulley and the second jaw pulley are housed inside. A blade, at least a portion of which is housed inside the first jaw or the second jaw, and which is formed to be movable between the proximal and distal portions of the first jaw or the second jaw, A guide tube is formed that penetrates the end tool hub and extends toward the blade side, An end tool for a surgical instrument, comprising a blade wire, one end of which is connected to the blade and which transmits the driving force necessary for the movement of the blade to the blade, and at least a portion of which is disposed within the guide tube.
  2. The aforementioned end tool hub is The main body and A first jaw-pulley coupling portion and a second jaw-pulley coupling portion are formed extending in one direction from the main body portion and facing each other, An end tool for a surgical instrument according to claim 1, comprising a first pitch pulley portion and a second pitch pulley portion formed extending from the main body portion in a direction opposite to the aforementioned one direction and formed to face each other.
  3. The first jaw pulley is positioned adjacent to the first jaw pulley coupling portion of the end tool hub, The second jaw pulley is positioned adjacent to the second jaw pulley coupling portion of the end tool hub, The end tool of a surgical instrument according to claim 2, characterized in that at least a portion of the guide tube is positioned between the first jaw pulley and the second jaw pulley.
  4. The end tool for a surgical instrument according to claim 2, characterized in that a yaw slit is formed between the first jaw-pulley joint and the second jaw-pulley joint, through which the guide tube can pass.
  5. The end tool of a surgical instrument according to claim 4, characterized in that a yaw round portion having a predetermined curvature is formed on one side of the yaw slit, guiding the yaw bending path of the guide tube.
  6. The first rotating shaft includes a first sub-shaft formed on the first jaw-pulley coupling side and a second sub-shaft formed on the second jaw-pulley coupling side. The end tool of a surgical instrument according to claim 4, characterized in that the yaw slit is formed between the first sub-axis and the second sub-axis of the first rotation axis.
  7. The end tool for a surgical instrument according to claim 2, characterized in that a pitch slit is formed between the first pitch pulley portion and the second pitch pulley portion, through which the guide tube can pass.
  8. The end tool of a surgical instrument according to claim 7, characterized in that a pitch round portion having a predetermined curvature is formed on one side of the pitch slit, guiding the pitch-direction bending path of the guide tube.
  9. The third rotating shaft includes a first sub-shaft formed on the first pitch pulley side and a second sub-shaft formed on the second pitch pulley side. The end tool of a surgical instrument according to claim 7, characterized in that the pitch slit is formed between the first sub-axis and the second sub-axis of the third rotation axis.
  10. A yaw slit is formed between the first jaw pulley joint and the second jaw pulley joint, through which the guide tube can pass. A pitch slit is formed between the first pitch pulley portion and the second pitch pulley portion, through which the guide tube can pass. The end tool of a surgical instrument according to claim 2, characterized in that the yaw slit and the pitch slit are formed to be connected to each other.
  11. A first jaw wire, in which at least a portion is wrapped around the first jaw pulley, The end tool of a surgical instrument according to claim 2, further comprising a second jaw wire, at least in part, which is wrapped around the second jaw pulley.
  12. The end tool of a surgical instrument according to claim 11, further comprising a first jaw auxiliary pulley and a second jaw auxiliary pulley disposed between the first jaw pulley and the second jaw pulley and the main body of the end tool hub.
  13. The end tool of a surgical instrument according to claim 12, characterized in that the first jaw wire is located on the common internal tangent line between the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley is increased by the first jaw auxiliary pulley.
  14. The end tool for a surgical instrument according to claim 11, characterized in that, in the main body, a first wire guide portion and a second wire guide portion are formed in the region adjacent to the first jaw pulley and the second jaw pulley, with their cross-sections curved to have a predetermined curvature.
  15. The end tool of a surgical instrument according to claim 14, characterized in that the first jaw wire is located on the common internal tangent line between the first jaw pulley and the first wire guide portion, and the rotation angle of the first jaw pulley is increased by the first wire guide portion.
  16. A first electrode is formed on the surface of the first jaw facing the second jaw. The end tool of a surgical instrument according to claim 1, characterized in that a second electrode is formed on the surface of the second jaw facing the first jaw.
  17. The endotool of a surgical instrument according to claim 16, characterized in that cauterization of tissue is performed while an electric current flows through the first electrode and the second electrode.
  18. The end tool of a surgical instrument according to claim 17, characterized in that, upon completion of the cauterization, the blade wire moves, and accordingly, the blade moves from the proximal to the distal side of the first jaw while cutting the tissue.
  19. The end tool of a surgical instrument according to claim 1, characterized in that at least a portion of the guide tube is positioned between the first jaw pulley and the second jaw pulley.
  20. The end tool of a surgical instrument according to claim 1, characterized in that the guide tube is formed to house at least a portion of the blade wire and to be bendable to a certain extent.

Description

The present invention relates to an end tool for a surgical instrument and an electrocautery surgical instrument, and more particularly to an end tool for a surgical instrument that can be mounted on a robotic arm or manually operated for use in laparoscopic surgery or various other surgeries, and which has an end tool that is rotatable in two or more directions and operates in a manner that is intuitively consistent with the operation of the control unit, and an electrocautery surgical instrument. Surgical procedures often require the cutting and joining of body tissues, including organs, muscle tissue, connective tissue, and blood vessels. For centuries, sharp blades and sutures have been used for cutting and joining. However, bleeding occurs when cutting body tissues, especially relatively highly vascularized tissues, during surgery. Therefore, physicians have needed surgical instruments and methods to delay or reduce bleeding during surgery. In recent years, electrosurgical instruments that utilize electrical energy for specific surgical procedures have become available. For example, electrosurgical instruments have been developed that include one or more electrodes designed to supply electrical energy, such as grippers, scissors, forceps, blades, needles, and hooks. The electrical energy supplied through these electrodes can be used for coagulation, binding, or cutting of the patient's tissues. In particular, when using electrical energy, cutting and hemostasis can be performed simultaneously. Electrosurgical devices are generally divided into two types: monopolar and bipolar. In monopolar electrosurgical devices, electrical energy of a specific polarity is supplied to one or more electrodes of the device. Electrical energy of the other polarity is then electrically connected to the patient. In bipolar electrosurgical devices, one or more electrodes are electrically connected to a primary polarity electrical energy source, and one or more electrodes are electrically connected to a secondary polarity electrical energy source opposite to the primary polarity. The background technology described above is technical information that the inventor possessed for the purpose of deriving the present invention or acquired during the process of deriving the present invention, and is not necessarily publicly known technology that was disclosed to the general public before the filing of the present invention application. Figure 1(a) is a conceptual diagram showing the pitch motion of a conventional surgical instrument, Figure 1(b) is a conceptual diagram showing the yaw motion; Figure 1(c) is a conceptual diagram showing the pitch motion of another conventional surgical instrument, Figure 1(d) is a conceptual diagram showing the yaw motion; Figure 1(e) is a conceptual diagram showing the pitch motion of the surgical instrument according to the present invention, and Figure 1(f) is a conceptual diagram showing the yaw motion.Figure 2 is a perspective view showing an instrument for electrocautery surgery according to a first embodiment of the present invention.Figure 3 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 4 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 5 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 6 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 7 is a plan view showing the endotool of the electrocautery surgical instrument shown in Figure 2.Figure 8 is a plan view showing the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 9 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 10 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 11 is a cross-sectional perspective view of the end tool hub shown in Figure 9.Figure 12 is a side view showing the end tool hub and link of the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 13 is a plan view showing the end tool hub and link of the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 14 is an exploded perspective view showing the jaw-link-jaw pulley of the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 15 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 16 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 17 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument shown in Figure 2.Figure 18 is a perspective