CLAIMS
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`1. A surgical instrument comprising:
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`an end tool comprising a first jaw and a second jaw configured to rotate independently;
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`an operator comprising a pitch operator controlling a pitch motion of the end tool, a yaw
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`operator controlling a yaw motion of the end tool, and an actuation operator controlling an
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`actuation motion of the end tool;
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`an operating force transmitter comprising a first jaw wire connected with the first jaw to
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`transmit an operation of the operator to the first jaw, a second jaw wire connected with the
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`10
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`second jaw to transmit an operation of the operator to the second jaw, and one or more
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`differential members transmitting a rotation of the yaw operator or the actuation operator to the
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`first jaw or the second jaw Via the first jaw wire or the second jaw wire; and
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`a connector configured to extend in a first direction (X axis) and haVing one end portion
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`coupled to the end tool and the other end portion coupled to the operator to connect the operator
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`15
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`and the end tool,
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`wherein
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`the pitch operator is configured to rotate around a second direction (Y axis) perpendicular
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`to the first direction; and
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`at least a portion of the operator is configured to be more adjacent to the end tool than a
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`rotating axis of the operator in at least any one operation state of the operator.
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`2.
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`The surgical instrument of claim 1, wherein the at least a portion of the operator is
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`configured to be more adjacent to the end tool than the rotating axis of the operator in one or
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`more operation states where the operator is rotated by a predetermined angle around the second
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`direction (Y axis) for a pitch operation.
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`3.
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`The surgical instrument of claim 1, wherein the yaw operator or the actuation
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`operator is formed at one end portion of the pitch operator.
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`4.
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`The surgical instrument of claim 3, wherein the yaw operator or the actuation
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`operator rotates along with the pitch operator according to a rotation of the pitch operator.
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`20
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`25
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`30
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`

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`5.
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`The surgical instrument of claim 1, wherein the differential member comprises:
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`a first differential member comprising a first input unit connected to the yaw operator, a
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`second input unit connected to the actuation operator, and an output unit connected to the first
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`input unit and the second input unit; and
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`a second differential member comprising a first input unit connected to the yaw operator,
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`a second input unit connected to the actuation operator, and an output unit connected to the first
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`input unit and the second input unit,
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`wherein
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`the yaw operator is connected to the first input unit of the first differential member and
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`the first input unit of the second differential member;
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`an operation of the yaw operator is configured to rotate the first input unit of the first
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`differential member and the output unit of the first differential member connected thereto and the
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`first input unit of the second differential member and the output unit of the second differential
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`member connected thereto in an identical direction;
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`the actuation operator is connected to the second input unit of the first differential
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`member and the second input unit of the second differential member; and
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`an operation of the actuation operator is configured to rotate the second input unit of the
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`first differential member and the output unit of the first differential member connected thereto
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`and the second input unit of the second differential member and the output unit of the second
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`differential member connected thereto in opposite directions, independently.
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`6.
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`The surgical instrument of claim 5, wherein
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`the output unit of the first differential member is connected with the first jaw;
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`the output unit of the second differential member is connected with the second jaw; and
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`the first jaw or the second jaw is configured to move according to the operation of the
`
`yaw operator or the actuation operator.
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`10
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`15
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`20
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`25
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`7.
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`The surgical
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`instrument of claim 5, wherein the operating force transmitter
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`30
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`comprises:
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`34
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`

`

`a first gear, a second gear, a third gear, and a fourth gear formed sequentially along a
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`differential member center axis; and
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`an actuation gear configured to engage independently with the second gear and the third
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`gear and configured to rotate around an actuation gear center axis according to the rotation of the
`
`actuation operator.
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`10
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`15
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`8.
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`The surgical instrument of claim 7, wherein the first gear and the fourth gear are
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`configured to rotate in the same direction according to the rotation of the yaw operator.
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`9.
`
`The surgical instrument of claim 7, wherein the second gear and the third gear rotate
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`in opposite directions when the actuation gear rotates around the actuation gear center axis.
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`10. The surgical instrument of claim 7, wherein
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`a first jaw operating member comprises:
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`a first jaw operating gear configured to engage independently with the third gear and the
`
`fourth gear and configured to rotate around a first jaw operating gear center axis;
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`a first jaw operating pulley connected with the first wire to rotate along with the first
`
`wire; and
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`a first jaw connecting member connecting the first jaw operating gear and the first jaw
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`20
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`operating pulley; and
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`a second jaw operating member comprises:
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`a second jaw operating gear configured to engage independently with the first gear and
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`the second gear and configured to rotate around a second jaw operating gear center axis;
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`a second jaw operating pulley connected with the second wire to rotate along with the
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`25
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`second wire; and
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`a second jaw connecting member connecting the second jaw operating gear and the
`
`second jaw operating pulley.
`
`ll. The surgical instrument of claim 10, wherein
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`30
`
`the first jaw operating gear is interposed in the form of a bevel gear between the third
`
`gear and the fourth gear to revolve around the differential member center axis or rotate around
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`35
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`

`

`the first jaw operating gear center axis according to a relative movement of the third gear or the
`
`fourth gear; and
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`the second jaw operating gear is interposed in the form of a bevel gear between the first
`
`gear and the second gear to revolve around the differential member center axis or rotate around
`
`the second jaw operating gear center axis according to a relative movement of the first gear or
`
`the second gear.
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`12. The surgical instrument of claim ll, wherein
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`the first jaw operating member and the second jaw operating member rotate in the same
`
`direction when the yaw operator rotates; and
`
`the first jaw operating member and the second jaw operating member rotate in opposite
`
`directions when the actuation operator rotates.
`
`13. The surgical instrument of claim 10, wherein the first jaw connecting member is
`
`configured to be inserted into the differential member center axis and is formed in the shape of
`
`bars extending respectively in different directions from the differential member center axis, one
`
`of the bars is configured to connect with the first jaw operating gear, and the other bar is
`
`configured to connect with the first jaw operating pulley.
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`14. The surgical instrument of claim 13, wherein the bar connecting with the first jaw
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`operating pulley is configured to be more distant from the differential member center axis than
`
`the second jaw connecting member.
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`15. An end tool comprising:
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`a first jaw and a second jaw configured to rotate independently of each other;
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`a J ll pulley coupled with the first jaw and configured to rotate around a first axis formed
`
`at an end tool hub;
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`a J 16 pulley formed at one side of the J ll pulley and configured to rotate around a
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`second axis formed at one side of the first axis;
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`10
`
`15
`
`20
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`25
`
`36
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`

`

`a J12 pulley and a J14 pulley formed at one side of the J16 pulley, and configured to
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`rotate around a third axis formed at a predetermined angle with the first axis, and formed at one
`
`side of the end tool hub;
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`a J21 pulley coupled with the second jaw and configured to rotate around an axis that is
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`substantially identical to or parallel to the first axis;
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`a J26 pulley formed at one side of the J21 pulley and configured to rotate around an axis
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`that is substantially identical to or parallel to the second axis; and
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`a J22 pulley and a J24 pulley formed at one side of the J26 pulley and configured to
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`rotate around an axis that is substantially identical to or parallel to the third axis,
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`10
`
`wherein
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`a first jaw wire is configured to at least partially contact the J12 pulley, the J11 pulley,
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`the J 16 pulley, and the J 14 pulley; and
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`a second jaw wire is configured to at least partially contact the J22 pulley, the J21 pulley,
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`the J26 pulley, and the J24 pulley.
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`15
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`16. The end tool of claim 15, wherein
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`the J 16 pulley is disposed on the opposite side of the first jaw and the second jaw with
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`respect to the J11 pulley; and
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`the J26 pulley is disposed on the opposite side of the first jaw and the second jaw with
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`20
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`respect to the J21 pulley.
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`25
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`30
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`17. The end tool of claim 15, wherein the first axis and the second axis are configured to
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`be substantially parallel to each other.
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`18. The end tool of claim 15, wherein the first axis and the third axis are configured to
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`be substantially perpendicular to each other.
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`19. The end tool of claim 15, wherein
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`the first jaw wire is fixedly coupled to the J11 pulley; and
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`the second jaw wire is fixedly coupled to the J21 pulley.
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`37
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`

`

`20. The end tool of claim 15 , wherein
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`the J 16 pulley is configured to have a smaller diameter than the J11 pulley; and
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`the J26 pulley is configured to have a smaller diameter than the J21 pulley.
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`21. The end tool of claim 15 , wherein
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`a connector hub is configured to rotate around the third axis with respect to the end tool
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`hub at one side of the end tool hub; and
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`the J12 pulley, the J 14 pulley, the J22 pulley, and the J24 pulley are formed on a common
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`axis of the end tool hub and the connector hub.
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`10
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`22. The end tool of claim 21, wherein at the connector hub,
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`a J 13 pulley and a J 15 pulley are configured to rotate around an axis that is substantially
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`parallel to the third axis; and
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`a J23 pulley and a J25 pulley are configured to rotate around an axis that is substantially
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`15
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`parallel to the third axis.
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`23. The end tool of claim 22, wherein
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`the first jaw wire is configured to pass between the J12 pulley and the J 13 pulley; and
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`the second jaw wire is configured to pass between the J22 pulley and the J23 pulley.
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`20
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`25
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`24. The end tool of claim 15, further comprising a pitch pulley coupled to the end tool
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`hub and configured to rotate around the third axis.
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`25. The end tool of claim 15 , wherein
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`a yaw motion and an actuation motion of the end tool are performed by the first jaw wire
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`rotating the J11 pulley connected to the first jaw and the second jaw wire rotating the J21 pulley
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`connected to the second jaw; and
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`a pitch motion of the end tool is performed by pulling both sides of the first jaw wire
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`wound around the J11 pulley or pulling both sides of the second jaw wire wound around the J21
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`30
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`pulley.
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`38
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`

`

`26. The end tool of claim 15, wherein with respect to the first jaw wire or the second
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`jaw wire, a pitch motion of the end tool is performed by pulling both sides of the wire wound
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`around the end tool.
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`5
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`27. The end tool of claim 15, 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 the wire wound around the end tool and pushing the other side thereof.
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`28. The end tool of claim 15, wherein
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`10
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`both strands of the first jaw wire wound around the J 11 pulley are disposed at the same
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`side with respect to the second axis; and
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`both strands of the second jaw wire wound around the J21 pulley are disposed at the same
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`side with respect to the second axis.
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`15
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`29. The end tool of claim 15, wherein
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`any one side of the first jaw wire wound around the J11 pulley is configured to pass
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`between the J 11 pulley and the J 16 pulley; and
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`any one side of the second jaw wire wound around the J21 pulley is configured to pass
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`between the J21 pulley and the J26 pulley.
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`20
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`30. A surgical instrument comprising the end tool of any one of claims 15 to 29.
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`39
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`

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