LEE, Jung Joo,이정주,KIM, Hee Jin,김희진,BACH, Du Jin,백두진
申请号：
KRKR2014/009599
公开号：
WO2015/163546A1
申请日:
2014.10.14
申请国别(地区):
KR
年份:
2015
代理人:
摘要：
An embodiment of the present invention discloses a surgical instrument characterized by comprising: an end tool including a first jaw and a second jaw respectively formed to be capable of rotating； an operator including a pitch operator for controlling the pitch movement of the end tool, a yaw operator for controlling the yaw movement of the end tool, and an actuation operator for controlling the actuation movement of the end tool； a power transfer unit including a first jaw wire connected to the first jaw to transfer the movement of the operator to the first jaw, a second jaw wire connected to the second jaw to transfer the movement of the operator to the second jaw, and one or more of a differential member for transferring the rotation of the yaw operator or the actuation operator to the first jaw or the second jaw through the first jaw wire or the second jaw wire； and a connecting portion formed extending in a first direction (X-axis) and connecting the operator with the end tool by having the end tool coupled to one end thereof and the operator connected to the other end thereof, wherein the pitch operator is formed to rotate about a second direction (Y-axis) that is perpendicular to the first direction, and at least a portion of the operator is formed to be closer to the end tool than the axis of rotation thereof in at least one operating state of the operator.Une forme de réalisation de la présente invention concerne un instrument chirurgical, caractérisé en ce qu'il comprend : un outil d'extrémité comprenant une première mâchoire et une seconde mâchoire, formées respectivement en vue de pouvoir tourner ； un organe d'actionnement comprenant un organe d'actionnement de tangage, qui commande le mouvement de tangage de l'outil d'extrémité, un organe d'actionnement de lacet, qui commande le mouvement de lacet de l'outil d'extrémité, et un organe d'actionnement, qui commande le mouvement d'actionnement de l'outil d'extrémité ； une unité de transfert de puissance co
