SURGICAL INSTRUMENT
`
`TECHNICAL FIELD
`
`5
`
`10
`
`15
`
`20
`
`25
`
`30
`
`The present invention relates to surgical instruments, and more particularly, to surgical
`
`instruments that may be manually operated to perform laparoscopic operations or various
`
`surgical operations.
`
`BACKGROUND ART
`
`A surgical operation is an operation for curing a disease by cutting,
`
`incising, and
`
`processing skin, membranes, or other tissues by using medical instruments. However, open
`
`surgery, which cuts and opens the skin of a surgical region and cures, shapes, or removes an
`
`organ therein, may cause bleeding, side effects, pain, scars, or the like. Therefore, a surgical
`
`operation, which is performed by forming a hole through the skin and inserting a medical
`
`instrument, for example, a laparoscope, a surgical instrument, or a surgical microscope thereinto,
`
`or a robotic surgical operation have recently become popular alternatives.
`
`The surgical instrument is an instrument for performing, by a surgeon, an operation on a
`
`surgical region by operating an end tool, which is installed at one end of a shaft inserted into a
`
`hole formed through the skin, by using an operator or by using a robotic arm. The end tool
`
`provided in the surgical instrument performs a rotating operation, a gripping operation, a cutting
`
`operation, or the like through a predetermined structure.
`
`However, since a conventional surgical instrument uses an unbendable end tool, it is not
`
`suitable for accessing a surgical region and performing various surgical operations. In order to
`
`solve this problem, a surgical instrument having a bendable end tool has been developed.
`
`However, an operation of an operator for bending the end tool to perform a surgical operation is
`
`not intuitively identical to an actual bending operation of the end tool for performing the surgical
`
`operation. Therefore, for surgical operators, it is difficult to perform an intuitive operation, and it
`
`takes a long time to learn how to use the surgical instrument.
`
`Information disclosed in this Background section was already known to the inventors
`
`before achieving the present invention or is technical information acquired in the process of
`
`

`

`achieving the present invention. Therefore, it may contain information that does not form the
`
`prior art that is already known to the public in this country.
`
`DETAILED DESCRIPTION OF THE INVENTION
`
`TECHNICAL PROBLEM
`
`The present invention provides a surgical instrument that is configured to intuitively
`
`match an actual operation of bending an end tool or performing a surgical operation with a
`
`corresponding operation of an operator. More particularly, to this end, the present invention
`
`provides an end tool having various degrees of freedom, an operator configured to intuitively
`
`control an operation of the end tool, and an operating force transmitter configured to transmit an
`
`operating force of the operator so that the end tool may operate in accordance with an operation
`
`of the operator.
`
`TECHNICAL SOLUTION
`
`According to an embodiment of the present invention, a surgical instrument includes: an
`
`end tool including a first jaw and a second jaw configured to rotate independently; an operator
`
`including a pitch operator controlling a pitch motion of the end tool, a yaw operator controlling a
`
`yaw motion of the end tool, and an actuation operator controlling an actuation motion of the end
`
`tool; an operating force transmitter including a first jaw wire connected with the first jaw to
`
`transmit an operation of the operator to the first jaw, a second jaw wire connected with the
`
`second jaw to transmit an operation of the operator to the second jaw, and one or more
`
`differential members transmitting a rotation of the yaw operator or the actuation operator to the
`
`first jaw or the second jaw via the first jaw wire or the second jaw wire; and a connector
`
`configured to extend in a first direction (X axis) and having one end portion coupled to the end
`
`tool and the other end portion coupled to the operator to connect the operator and the end tool,
`
`wherein the pitch operator
`
`is configured to rotate around a second direction (Y axis)
`
`perpendicular to the first direction; and at least a portion of the operator is configured to be more
`
`adjacent to the end tool than a rotating axis of the operator in at least any one operation state of
`
`the operator.
`
`10
`
`15
`
`20
`
`25
`
`30
`
`

`

`According to another embodiment of the present invention, an end tool includes: a first
`
`jaw and a second jaw configured to rotate independently of each other; a J ll pulley coupled with
`
`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 ll 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 J2l pulley coupled with the second jaw and configured
`
`to rotate around an axis that is substantially identical to or parallel to the first axis; a J26 pulley
`
`formed at one side of the J21 pulley and configured to rotate around an axis that is substantially
`
`identical to or parallel to the second axis; and a J22 pulley and a J24 pulley formed at one side of
`
`the J26 pulley and configured to rotate around an axis that is substantially identical to or parallel
`
`to the third axis, wherein a first jaw wire is configured to at least partially contact the J 12 pulley,
`
`the J ll pulley, the J 16 pulley, and the J 14 pulley; and a second jaw wire is configured to at least
`
`partially contact the J22 pulley, the J21 pulley, the J26 pulley, and the J24 pulley.
`
`These and/or other aspects will become apparent and more readily appreciated from the
`
`following description of the invention, taken in conjunction with the accompanying drawings.
`
`ADVANTAGEOUS EFFECTS OF THE INVENTION
`
`According to the present invention, since an operation direction of the operator by a
`
`surgical operator and an operation direction of the end tool are intuitively identical to each other,
`
`the convenience of the surgical operator may be improved, and the accuracy, reliability, and the
`
`quickness of a surgical operation may be improved.
`
`DESCRIPTION OF THE DRAWINGS
`
`FIG. 1A is a schematic diagram illustrating a pitch operation of a conventional surgical
`
`instrument, and FIG. 1B is a schematic diagram illustrating a yaw operation thereof.
`
`FIG. 1C is a schematic diagram illustrating a pitch operation of another conventional
`
`surgical instrument, and FIG. 1D is a schematic diagram illustrating a yaw operation thereof.
`
`10
`
`15
`
`20
`
`25
`
`30
`
`

`

`FIG. IE is a schematic diagram illustrating a pitch operation of a surgical instrument
`
`according to the present invention, and FIG.
`
`lF is a schematic diagram illustrating a yaw
`
`operation thereof.
`
`FIG. 2 is a perspective view of a surgical instrument according to a first embodiment of
`
`the present invention.
`
`FIG. 3 is an internal perspective view of the surgical instrument of FIG. 2.
`
`FIG. 4 is a side view of the surgical instrument of FIG. 3.
`
`FIG. 5 is a perspective view illustrating an upper portion of an operator of the surgical
`
`instrument of FIG. 3.
`
`FIG. 6 is a perspective view illustrating a lower portion of the operator of the surgical
`
`instrument of FIG. 3.
`
`FIGS. 7 and 8 are perspective views illustrating an end tool of the surgical instrument of
`
`FIG. 3.
`
`FIG. 3.
`
`FIG. 3.
`
`FIG. 3.
`
`FIG. 9A is a plan view illustrating an end tool of the surgical instrument of FIG. 3.
`
`FIG. 9B is a plan view illustrating an end tool of a conventional surgical instrument.
`
`FIG. 10 is a schematic view illustrating a pitch operation of the surgical instrument of
`
`FIG. ll is a perspective view illustrating a pitch operation of the surgical instrument of
`
`FIGS. 12 and 13 are views illustrating a yaw operation of the surgical instrument of FIG.
`
`FIGS. 14 and 15 are views illustrating an actuation operation of the surgical instrument of
`
`10
`
`15
`
`20
`
`FIG. 16 is a perspective view of a surgical instrument according to a second embodiment
`
`25
`
`of the present invention.
`
`FIG. 17 is a plan view of the surgical instrument of FIG. 16.
`
`FIG. 18 is a perspective view illustrating an operator of the surgical instrument of FIG.
`
`16.
`
`30
`
`FIG. 19 is a view illustrating a yaw operation of the surgical instrument of FIG. 16.
`
`FIGS. 20 and 21 are views illustrating an actuation operation of the surgical instrument of
`
`FIG. 16.
`
`

`

`BEST MODE
`
`The present
`
`invention may include various embodiments and modifications, and
`
`particular embodiments thereof are illustrated in the drawings and will be described herein in
`
`detail. However,
`
`it will be understood that
`
`the present
`
`invention is not
`
`limited to the
`
`embodiments and includes all modifications, equivalents and substitutions falling within the
`
`spirit and scope of the present invention. In the following description, detailed descriptions of
`
`well—known functions or configurations will be omitted since they would unnecessarily obscure
`
`the subject matters of the present invention.
`
`Although terms such as "first" and "second" may be used herein to describe various
`
`elements or components, these elements or components should not be limited by these terms.
`
`These terms are only used to distinguish one element or component from another element or
`
`component.
`
`The terminology used herein is for the purpose of describing particular embodiments only
`
`and is not intended to limit the present invention. As used herein, the singular forms "a", "an",
`
`and "the" are intended to include the plural forms as well, unless the context clearly indicates
`
`otherwise. It will be understood that terms such as "comprise", "include", and "have", when used
`
`herein, specify the presence of stated features, integers, steps, operations, elements, components,
`
`or combinations thereof, but do not preclude the presence or addition of one or more other
`
`features, integers, steps, operations, elements, components, or combinations thereof.
`
`Hereinafter, embodiments of the present
`
`invention will be described in detail with
`
`reference to the accompanying drawings. In the following description, like reference numerals
`
`denote like elements, and redundant descriptions thereof will be omitted.
`
`Also, it will be understood that various embodiments of the present invention may be
`
`interpreted or implemented in combination, and technical features of each embodiment may be
`
`interpreted or implemented in combination with technical features of other embodiments.
`
`<First Embodiment of Surgical Instrument>
`
`A surgical instrument according to the present invention is characterized in that, for at
`
`least any one of the pitch, yaw, and actuation operations, when an operator is rotated in any one
`
`10
`
`15
`
`20
`
`25
`
`30
`
`

`

`direction, an end tool rotates in a direction that is intuitively identical to an operation direction of
`
`the operator.
`
`FIG. 1A is a schematic diagram illustrating a pitch operation of a conventional surgical
`
`instrument, and FIG. 1B is a schematic diagram illustrating a yaw operation thereof.
`
`Referring to FIG. 1A, in order to perform a pitch operation of a conventional surgical
`
`instrument, in a state where an end tool 120a is formed in front of an end tool rotation center
`
`121a and an operator llOa is formed in back of an operator rotation center llla, when the
`
`operator llOa is rotated in a clockwise direction, the end tool 120a also rotates in the clockwise
`
`direction, and when the operator llOa is rotated in a counterclockwise direction, the end tool
`
`120a also rotates in the counterclockwise direction. Referring to FIG. 1B, in order to perform a
`
`yaw operation of a conventional surgical instrument, in a state where an end tool 120a is formed
`
`in front of an end tool rotation center 121a and an operator llOa is formed in back of an operator
`
`rotation center llla, when the operator llOa is rotated in a clockwise direction, the end tool
`
`120a also rotates in the clockwise direction, and when the operator
`
`llOa is rotated in a
`
`counterclockwise direction, the end tool 120a also rotates in the counterclockwise direction. In
`
`this case, from the viewpoint of a horizontal direction of a user, when the user moves the
`
`operator llOa to the left, the end tool 120a moves to the right, and when the user moves the
`
`operator llOa to the right, the end tool 120a moves to the left. Consequently, since the operation
`
`direction of the user and the operation direction of the end tool are opposite to each other, the
`
`user may make an error and the operation of the user may not be easy.
`
`FIG. 1C is a schematic diagram illustrating a pitch operation of another conventional
`
`surgical instrument, and FIG. 1D is a schematic diagram illustrating a yaw operation thereof.
`
`Referring to FIG. 1C,
`
`in order for another conventional surgical
`
`instrument
`
`to be
`
`mirror—symmetrically formed to perform a pitch operation, in a state where an end tool 120b is
`
`formed in front of an end tool rotation center 121b and an operator llOb is formed in back of an
`
`operator rotation center lllb, when the operator llOb is rotated in the clockwise direction, the
`
`end tool 120b rotates in the counterclockwise direction, and when the operator llOb is rotated in
`
`the counterclockwise direction, the end tool 120b rotates in the clockwise direction. In this case,
`
`from the viewpoint of the rotation direction of the operator and the end tool,
`
`the rotation
`
`direction of the operator llOb by the user and the corresponding rotation direction of the end tool
`
`120b are opposite to each other. Consequently, the user may confuse the operation direction, the
`
`10
`
`15
`
`20
`
`25
`
`30
`
`

`

`operation of a joint may not be intuitive, and an error may be caused accordingly. Also, referring
`
`to FIG. 1D, in order to perform a yaw operation, in a state where an end tool 120b is formed in
`
`front of an end tool rotation center 121b and an operator 110b is formed in back of an operator
`
`rotation center 111b, when the operator 110b is rotated in the clockwise direction, the end tool
`
`120b rotates in the counterclockwise direction, and when the operator 110b is rotated in the
`
`counterclockwise direction, the end tool 120b rotates in the clockwise direction. In this case,
`
`from the viewpoint of the rotation direction of the operator and the end tool,
`
`the rotation
`
`direction of the operator 110b by the user and the corresponding rotation direction of the end tool
`
`120b are opposite to each other. Consequently, the user may confuse the operation direction, the
`
`operation of a joint may not be intuitive, and an error may be caused accordingly.
`
`In order to solve this problem, a surgical instrument according to an embodiment of the
`
`present invention illustrated in FIGS. 1E and IF is characterized in that an end tool 120C is
`
`formed in front of an end tool rotation center 121c and an operator 110c is also formed in front
`
`of an operator rotation center 111c, so that the operations of the operator 110c and the end tool
`
`120C are intuitively identical to each other.
`
`In other words, unlike a conventional example of the configuration in which the operator
`
`becomes adjacent to the user (i.e., becomes distant from the end tool) with respect to its own
`
`joint as illustrated in FIGS. 1A, 1B, 1C, and 1D,
`
`the surgical instrument according to an
`
`embodiment of the present invention illustrated in FIGS. 1E and IF is formed such that at least a
`
`portion of the operator may become more adjacent to the end tool with respect to its own joint
`
`(i.e., than its own joint).
`
`In other words, in the case of the conventional surgical instrument illustrated in FIGS. 1A,
`
`1B, 1C, and 1D, since the end tool is located in front of its own rotation center but the operator is
`
`formed in back of its own rotation center and thus the end tool moving the front with the rear
`
`fixed is moved by the operation of the operator moving the rear with the front fixed, they are not
`
`structurally intuitively identical to each other. Consequently, in the operation of the operator and
`
`the operation of the end tool, from the viewpoint of the horizontal direction or the viewpoint of
`
`the rotation direction, a mismatch may occur, the user may be confused, the operation of the
`
`operator may be difficult to perform intuitively rapidly, and an error may be caused accordingly.
`
`On the other hand, in the case of the surgical instrument according to an embodiment of the
`
`present invention, since both the end tool and the operator move with respect to the rotation
`
`10
`
`15
`
`20
`
`25
`
`30
`
`

`

`center formed at the rear, the operations may be structurally intuitively identical to each other.
`
`Consequently, the user may intuitively rapidly control the end tool direction, and the possibility
`
`of causing an error may be significantly reduced. A specific mechanism enabling this function
`
`will be described below.
`
`FIG. 2 is a perspective view of a surgical instrument according to a first embodiment of
`
`the present invention, FIG. 3 is an internal perspective view of the surgical instrument of FIG. 2,
`
`and FIG. 4 is a side view of the surgical instrument of FIG. 3.
`
`Referring to FIGS. 2, 3, and 4, a surgical instrument 100 according to a first embodiment
`
`of the present invention includes an operator 110, an end tool 120, an operating force transmitter
`
`130, and a connector 140. Herein, the connector 140 may be formed to have the shape of a
`
`hollow shaft, so that one or more wires (which will be described later) may be accommodated
`
`therein. The operator 110 may be coupled to one end portion of the connector 140, and the end
`
`tool 120 may be coupled to the other end portion of the connector 140, so that the connector 140
`
`may connect the operator 110 and the end tool 120.
`
`In detail, the operator 110 is formed at one end portion of the connector 140, and is
`
`provided as an interface having, for example, a tweezer shape, a stick shape, or a lever shape,
`
`which may be directly operated by a surgical operator. When a surgical operator operates the
`
`operator 110, the end tool 120, which is connected to the interface and is inserted into the body
`
`of a surgical patient, performs an operation, thereby performing a surgical operation. Although
`
`FIG. 2 illustrates that the operator 110 is formed to have the shape of a handle that may be
`
`rotated with a finger inserted thereinto, the inventive concept is not limited thereto, and the
`
`operator 110 may have various shapes that may be connected with the end tool 120 to operate the
`
`end tool 120.
`
`The end tool 120 is formed at the other end portion of the connector 140 and is inserted
`
`into a surgical region to perform a necessary surgical operation. As an example of the end tool
`
`120, a pair of jaws, namely, first and second jaws 121 and 122, may be used to perform a grip
`
`operation as illustrated in FIG. 2. However, the inventive concept is not limited thereto, and
`
`various surgical devices may be used as the end tool 120. For example, a one—armed cautery may
`
`be used as the end tool 120. The end tool 120 is connected with the operator 110 by the operating
`
`force transmitter 130 to receive an operating force of the operator 110 through the operating
`
`10
`
`15
`
`20
`
`25
`
`30
`
`

`

`force transmitter 130, thereby performing a necessary surgical operation such as a grip, cutting,
`
`or suturing.
`
`Herein, the end tool 120 of the surgical instrument 100 according to the first embodiment
`
`of the present invention is formed to rotate in two or more directions. For example, the end tool
`
`120 may be formed to perform a pitch motion around a Y axis of FIG. 2 and also perform a yaw
`
`motion and an actuation motion around a Z axis of FIG. 2. This will be described later in detail.
`
`The operating force transmitter 130 connects the operator 110 and the end tool 120 to
`
`transmit an operating force of the operator 110 to the end tool 120, and may include a plurality of
`
`wires, pulleys, links, nodes, and gears.
`
`Hereinafter, the operator 110, the end tool 120, and the operating force transmitter 130 of
`
`the surgical instrument 100 of FIG. 2 will be described in more detail.
`
`(Operator)
`
`FIG. 5 is a perspective view illustrating an upper portion of the operator of the surgical
`
`instrument of FIG. 3, and FIG. 6 is a perspective view illustrating a lower portion of the operator
`
`of the surgical instrument of FIG. 3.
`
`Referring to FIGS. 2 to 6, the operator 110 of the surgical instrument 100 according to
`
`the first embodiment of the present invention includes a pitch operator lll controlling a pitch
`
`motion of the end tool 120, a yaw operator ll2 controlling a yaw motion of the end tool 120, and
`
`an actuation operator ll3 controlling an actuation motion of the end tool 120.
`
`First, as an example of the use state of the surgical instrument 100 of FIG. 2, the user
`
`may grip a pitch operating handle (or bar) 1112 of the pitch operator 111 with the palm and
`
`rotate the pitch operating handle 1112 to perform a pitch motion, may insert the index finger into
`
`the yaw operator 112 and rotate the yaw operator 112 to perform a yaw motion, and may insert
`
`the big finger into the actuation operator 113 and rotate the actuation operator 113 to perform an
`
`10
`
`15
`
`20
`
`25
`
`actuation motion.
`
`A pitch operation, a yaw operation, and an actuation operation used in the present
`
`invention are summarized as follows:
`
`First, the pitch operation refers to an operation of rotating the end tool 120 in the vertical
`
`direction with respect to the connector 140, that is, an operation of rotating around the Y axis of
`
`30
`
`FIG. 2. In other words, the pitch operation refers to a vertical rotation of the end tool 120, which
`
`is formed to extend in the extension direction (the X—axis direction of FIG. 2) of the connector
`
`

`

`140, around the Y axis with respect to the connector 140. The yaw operation refers to an
`
`operation of rotating the end tool 120 in the horizontal direction with respect to the connector
`
`140, that is, an operation of rotating around the Z axis of FIG. 2. In other words, the yaw
`
`operation refers to a horizontal rotation of the end tool 120, which is formed to extend in the
`
`extension direction (the X—axis direction of FIG. 2) of the connector 140, around the Z axis with
`
`respect to the connector 140. The actuation operation refers a folding or unfolding operation of
`
`the jaws 121 and 122 when the jaws 121 and 122 rotate in opposite directions while rotating
`
`around the same rotating axis as the yaw operation. That is, the actuation operation refers to
`
`rotations of the jaws 121 and 122, which is formed at the end tool 120, in opposite directions
`
`10
`
`around the Z axis.
`
`15
`
`20
`
`Herein, when the operator 110 of the surgical instrument 100 is rotated in one direction
`
`with respect to the connector 140, the end tool 120 rotates with respect to the connector 140 in a
`
`direction that is intuitively identical to an operation direction of the operator 110. In other words,
`
`when the pitch operator 111 of the operator llO rotates in one direction, the end tool 120 rotates
`
`in a direction intuitively identical to the one direction to perform a pitch operation, and when the
`
`yaw operator 112 of the operator llO rotates in one direction, the end tool 120 rotates in a
`
`direction intuitively identical to the one direction to perform a yaw operation. Herein, it may be
`
`said that the intuitively identical direction refers to a case where a movement direction of the
`
`index finger of the user gripping the operator 110 is substantially identical to a movement
`
`direction of the end portion of the end tool 120. In addition, the identical direction may not be an
`
`exactly identical direction on a three—dimensional coordinate system. For example, the identical
`
`direction may refer to a case where when the index finger of the user moves to the left, the end
`
`portion of the end tool 120 also moves to the left, and when the index finger of the user moves to
`
`the right, the end portion of the end tool 120 also moves to the right, in order to maintain
`
`25
`
`intuition.
`
`To this end, in the surgical instrument 100, the operator 110 and the end tool 120 are
`
`formed in the same direction with respect to a plane perpendicular to the extension axis (X axis)
`
`of the connector 140. That is, in view of a YZ plane of FIG. 2, the operator 110 is formed to
`
`extend in a +X—axis direction, and the end tool 120 is also formed to extend in the +X—axis
`
`30
`
`direction. In other words, it may be said that a formation direction of the end tool 120 at one end
`
`portion of the connector 140 may be identical to a formation direction of the operator 110 at the
`
`10
`
`

`

`other end portion of the connector 140 in view of the YZ plane. In other words, it may be said
`
`that the operator 110 is formed to extend away from the body of the user gripping the operator
`
`110, that is, the operator 110 is formed to extend toward the end tool 120.
`
`In detail, in the case of a related art surgical instrument, an operation direction of an
`
`operator by a user is different from and is not intuitively identical to an actual operation direction
`
`of an end tool. Therefore, a surgical operator has difficulty in performing an intuitive operation,
`
`and it takes a long time to skillfully move the end tool in a desired direction. Also, in some cases,
`
`a faulty operation may occur, thus damaging a surgical patient.
`
`In order to solve such problems,
`
`the surgical
`
`instrument 100 according to the first
`
`embodiment of the present invention is configured such that an operation direction of the
`
`operator 110 is intuitively identical to an operation direction of the end tool 120. To this end, the
`
`operator 110 and the end tool 120 are formed on the same side in view of the YZ plane including
`
`a pitch operating axis 1111. This will be described below in more detail.
`
`The pitch operator 111 includes a pitch operating axis 1111 and a pitch operating handle
`
`1112. Herein, the pitch operating axis 1111 may be formed in the direction parallel to the Y axis,
`
`and the pitch operating handle 1112 may be connected with the pitch operating axis 1111 to
`
`rotate along with the pitch operating axis 1111. For example, when the user grips and rotates the
`
`pitch operating handle 1112, the pitch operating handle 1112 rotates around the pitch operating
`
`axis 1111. Then, the resulting rotating force is transmitted to the end tool 120 through the
`
`operating force transmitter 130, an operator control member 115, and an end tool control
`
`member 123, so that the end tool 120 rotates in the same direction as the rotation direction of the
`
`pitch operator 111. That is, when the pitch operator 111 rotates in the clockwise direction around
`
`the pitch operating axis 1111, the end tool 120 also rotates in the clockwise direction around an
`
`axis parallel to the pitch operating axis 1111, and when the pitch operator 111 rotates in the
`
`counterclockwise direction around the pitch operating axis 1111, the end tool 120 also rotates in
`
`the counterclockwise direction around the axis parallel to the pitch operating axis 1111.
`
`The yaw operator 112 and the actuation operator 113 are formed on one end portion of
`
`the pitch operating handle 1112 of the pitch operator 111. Thus, when the pitch operator 111
`
`rotates around the pitch operating axis 1111, the yaw operator 112 and the actuation operator 113
`
`also rotate along with the pitch operator 111. FIG. 2 illustrates a state in which the pitch
`
`operating handle 1112 of the pitch operator 111 is perpendicular to the connector 140, while FIG.
`
`10
`
`15
`
`20
`
`25
`
`30
`
`11
`
`

`

`11 illustrates a state in which the pitch operating handle 1112 of the pitch operator 111 is at an
`
`angle to the connector 140 by rotating around the pitch operating axis 1111 by some degree.
`
`Therefore, a coordinate system of the yaw operator 112 and the actuation operator 113 is
`
`not fixed, but relatively changes according to the rotation of the pitch operator 111. That is, FIG.
`
`2 illustrates that a yaw operating axis 1121 of the yaw operator 112 is parallel to the Z axis and
`
`an actuation operating axis 1131 of the actuation operator 113 is parallel to the Y axis. However,
`
`when the pitch operator 111 is rotated, the yaw operating axis 1121 of the yaw operator 112 is
`
`not parallel to the Z axis. That is,
`
`the coordinate system of the yaw operator 112 and the
`
`actuation operator 113 change according to the rotation of the pitch operator 111. However, for
`
`convenience of description, the coordinate system of the yaw operator 112 and the actuation
`
`operator 113 will be described on the assumption that the pitch operating handle 1112 is
`
`perpendicular to the connector 140 as illustrated in FIG. 2.
`
`The yaw operator 112 includes a yaw operating axis 1121 and a yaw operating member
`
`1122. Herein, the yaw operating axis 1121 may be formed to be at a predetermined angle to an
`
`XY plane where the connector 140 is formed. For example, the yaw operating axis 1121 may be
`
`formed in a direction parallel to the Z axis as illustrated in FIG. 3, and when the pitch operator
`
`111 rotates, the coordinate system of the yaw operator 112 may relatively change as described
`
`above. However, the inventive concept is not limited thereto, and the yaw operating axis 1121
`
`may be formed in various directions by ergonomic design according to the structure of the hand
`
`of the user gripping the yaw operator 112.
`
`The yaw operating member 1122 is formed to rotate around the yaw operating axis 1121.
`
`For example, when the user holds and rotates the yaw operating member 1122 by the index
`
`finger, the yaw operating member 1122 rotates around the yaw operating axis 1121. Then, the
`
`resulting rotating force is transmitted to the end tool 120 through the operating force transmitter
`
`130, so that the jaws 121 and 122 of the end tool 120 horizontally rotate in the same direction as
`
`the rotation direction of the yaw operating member 1122. To this end, a pulley 1121a may be
`
`formed at the yaw operating axis 1121. Also, a yaw wire 130Y may be connected to the pulley
`
`1121a, and the rotating force may be transmitted to the end tool 120 through the operating force
`
`transmitter 130 including the yaw wire 130Y, so that the jaws 121 and 122 of the end tool 120
`
`10
`
`15
`
`20
`
`25
`
`30
`
`may perform a yaw operation.
`
`12
`
`

`

`The actuation operator 113 includes an actuation operating axis 1131 and an actuation
`
`operating member 1132. Herein, the actuation operating axis 1131 may be formed to be at a
`
`predetermined angle to the X2 plane where the connector 140 is formed. For example, the
`
`actuation operating axis 1131 may be formed in a direction parallel to the Y axis as illustrated in
`
`FIG. 2, and when the pitch operator 111 rotates, the coordinate system of the actuation operator
`
`113 may relatively change as described above. However, the inventive concept is not limited
`
`thereto, and the actuation operating axis 1131 may be formed in various directions by ergonomic
`
`design according to the structure of the hand of the user gripping the actuation operator 113.
`
`The actuation operating member 1132 is formed to rotate around the actuation operating
`
`axis 1131. For example, when the user holds and rotates the actuation operating member 1132 by
`
`the big finger, the actuation operating member 1132 rotates around the actuation operating axis
`
`1131. Then, the resulting rotating force is transmitted to the end tool 120 through the operating
`
`force transmitter 130, so that the jaws 121 and 122 of the end tool 120 perform an actuation
`
`operation. Herein, as described above, the actuation operation refers to an operation of folding or
`
`unfolding the jaws 121 and 122 by rotating the jaws 121 and 122 in opposite directions. That is,
`
`when the actuation operator 113 is rotated in one direction, as the first jaw 121 rotates in the
`
`counterclockwise direction and the second jaw 122 rotates in the clockwise direction, the end
`
`tool 120 is folded; and when the actuation operator 113 is rotated in the opposite direction, as the
`
`first jaw 121 rotates in the clockwise direction and the second jaw 122 rotates in the
`
`counterclockwise direction, the end tool 120 is unfolded.
`
`A pulley 1131a may be formed at one end portion of the actuation operating axis 1131.
`
`An actuation wire 130A may be connected to the pulley 1131a.
`
`Referring to FIG. 3, the pitch operating axis 111 of the pitch operator 111 and the end
`
`tool 120 are formed on the same or parallel axis (X axis) in the surgical instrument 100
`
`according to the first embodiment of the present invention. That is, the pitch operating axis 1111
`
`of the pitch operator 111 is formed at on