阅读说明：本技术 手术器械 (Surgical instrument ) 是由 金永根 冉祥 郑英柱 于 2019-10-18 设计创作，主要内容包括：根据一实施例的手术器械包括：基座,其包括基座齿轮；连接链节,其包括与上述基座齿轮啮合的下侧连接齿轮及形成在上述下侧连接齿轮的相反侧的上侧连接齿轮,并且上述连接链节能够相对于上述基座进行旋转；头部,其包括与上述上侧连接齿轮啮合的头部齿轮,并且上述头部能够相对于上述连接链节进行旋转；以及手术用尖端部,其安装在上述头部,其中,上述连接链节及头部能够彼此独立地进行旋转。(A surgical instrument according to an embodiment includes: a base including a base gear; a connecting link that includes a lower connecting gear that meshes with the base gear and an upper connecting gear formed on the opposite side of the lower connecting gear, and that is rotatable with respect to the base; a head portion including a head gear that meshes with the upper connecting gear, and the head portion being rotatable with respect to the connecting link; and a surgical tip portion attached to the head portion, wherein the connecting link and the head portion are rotatable independently of each other.)

1. A surgical instrument, comprising:

a base including a base gear;

a connecting link including a lower connecting gear engaged with the base gear and an upper connecting gear formed on an opposite side of the lower connecting gear, and being rotatable with respect to the base;

a head portion including a head gear that meshes with the upper side connecting gear, and that is rotatable relative to the connecting link; and

a surgical tip portion attached to the head portion,

the connecting link and the head portion are rotatable independently of each other.

2. A surgical instrument according to claim 1,

the connecting link and the head portion are rotatable in directions intersecting each other.

3. A surgical instrument as recited in claim 1, further comprising:

a lower auxiliary link connected to the base gear and the lower connection gear and rotatably connected to the base gear and the lower connection gear, respectively; and

and an upper auxiliary link connected to the upper connecting gear and the head gear and rotatably connected to the upper connecting gear and the head gear, respectively.

4. A surgical instrument as recited in claim 3, further comprising:

a first link connecting line and a second link connecting line fixed to the connecting link through the base; and

and first and second head connection lines fixed to the head portion through the base and the connection link.

5. A surgical instrument according to claim 4,

the first link connecting line and the second link connecting line are located on opposite sides of each other with reference to a contact portion of the base and the connecting link,

the first and second head connecting wires are located on opposite sides of each other with reference to a contact portion of the connecting link and the head.

6. A surgical instrument according to claim 5,

the connecting link further includes: and the four link holes are respectively used for guiding the first link connecting line, the second link connecting line, the first head connecting line and the second head connecting line.

7. A surgical instrument as recited in claim 3, further comprising:

a lower assembly member supporting an inner side of the lower auxiliary link so as to prevent the lower auxiliary link from being separated from the base gear and the lower connection gear; and

and an upper assembly member supporting an inner side of the upper auxiliary link so as to prevent the upper auxiliary link from being separated from the upper connecting gear and the head gear.

8. A surgical instrument according to claim 7,

at least one of the lower assembly member and the upper assembly member includes a guide hole formed through a central portion thereof.

9. A surgical instrument, comprising:

a surgical tip;

a base including a base body having a hollow inside, a first base gear and a second base gear formed to protrude from the base body;

a connecting link including a connecting body having a hollow inside, a first lower connecting gear protruding from the connecting body and engaging with the first base gear, a second lower connecting gear protruding from the connecting body and engaging with the second base gear, and first and second upper connecting gears protruding in a direction opposite to a protruding direction of the first and second lower connecting gears;

a head including a head body supporting the surgical tip, a first head gear protruding from the head body and meshing with the first upper connecting gear, and a second head gear protruding from the head body and meshing with the second upper connecting gear;

a first link connecting line and a second link connecting line fixed to the connecting link through the base; and

and first and second head connection lines fixed to the head portion through the base and the connection link.

10. A surgical instrument according to claim 9,

the direction of rotation of the connecting link relative to the base intersects the direction of rotation of the head relative to the connecting link.

11. A surgical instrument according to claim 9,

the connecting link and the head portion are rotatable independently of each other.

12. A surgical instrument as recited in claim 9, further comprising:

a first lower auxiliary link provided inside the base body and the connecting body and connecting the first base gear and the first lower connecting gear;

a second lower auxiliary link provided inside the base body and the connecting body and connecting the second base gear and a second lower connecting gear; and

and a lower assembly member disposed between the first and second lower sub-links.

13. A surgical instrument according to claim 12,

the lower assembly member includes a guide hole formed to penetrate in a longitudinal direction of the first lower auxiliary link.

14. A surgical instrument as recited in claim 9, further comprising:

a first upper auxiliary link provided inside the connecting body and the head body and connecting the first upper connecting gear and the first head gear;

a second upper auxiliary link provided inside the connecting body and the head body and connecting the second upper connecting gear and the second head gear; and

and an upper assembly member disposed between the first upper auxiliary link and the second upper auxiliary link.

15. A surgical instrument according to claim 14,

the upper assembly member includes a guide hole formed to penetrate in a longitudinal direction of the first upper auxiliary link.

Technical Field

The following description relates to a surgical instrument, and more particularly, to a surgical instrument with degrees of freedom for separation.

Background

Surgical instruments are being developed in a direction to minimize surgical openings (invasion). One of the laparoscopic surgical methods developed as one of the methods is a surgical method in which a small incision of about 2cm is made in the abdomen, and a laparoscope and surgical instruments are inserted to perform an operation. In order to minimize the surgical opening, surgical instruments used in laparoscopic surgery have been developed in the form of a tip (tip) having various functions such as a thin and long tube and forceps or a cautery attached to a distal end portion thereof. Such instruments are commonly used in surgery throughout the field, rather than being limited to laparoscopic surgery.

The movement of existing surgical instruments is limited centered around the surgical opening of the patient. In order to achieve a more flexible (dexterous) movement, surgical instruments are used whose tip has an articulated structure. The joint can be used for not only easy operation in narrow space such as prostate operation, but also single-port operation. That is, a surgical instrument having a joint at a distal end portion has become an essential structural element in minimally invasive surgery. The surgical instrument having the distal end portion with the joint transmits the driving force mostly through a wire cable.

Surgical instruments having a tip with joints typically have multiple degrees of freedom. However, the conventional surgical instrument has a problem of a decrease in accuracy due to the coupled movement between the plurality of degrees of freedom. For example, the connecting Wire (Wire) for driving the surgical tip is influenced by the movement of other joints, and thus coupled (coupled) movements can be generated. In order to control the accurate position of the conventional surgical instrument, it is necessary to derive the accurate position by performing analysis using inverse kinematics. In order to solve the above-described problems, a technique capable of separating the degrees of freedom of the joints is required.

Disclosure of Invention

Problems to be solved by the invention

It is an object of an embodiment to provide a surgical instrument that enables simple and accurate control by separating the degrees of freedom of a multi-joint surgical instrument.

It is another object of an embodiment to provide a surgical instrument having a structure capable of guiding a wire and the like while improving structural stability of a joint portion of the articulated surgical instrument.

Means for solving the problems

A surgical instrument according to an embodiment includes: a base including a base gear; a connecting link that includes a lower connecting gear that meshes with the base gear and an upper connecting gear formed on the opposite side of the lower connecting gear, and that is rotatable with respect to the base; a head portion including a head gear that meshes with the upper connecting gear, and the head portion being rotatable with respect to the connecting link; and a surgical tip portion attached to the head portion, wherein the connecting link and the head portion are rotatable independently of each other.

The connecting link and the head portion are rotatable in directions intersecting each other.

The surgical instrument may further include: a lower auxiliary link connected to the base gear and the lower connection gear and rotatably connected to the base gear and the lower connection gear, respectively; and an upper auxiliary link connected to the upper connecting gear and the head gear and rotatably connected to the upper connecting gear and the head gear, respectively.

The surgical instrument may further include: a first link connecting wire and a second link connecting wire fixed to the connecting link through the base; and a first head connecting wire and a second head connecting wire fixed to the head portion via the base and the connecting link.

The first link connection line and the second link connection line may be located on opposite sides with respect to a contact portion of the base and the connecting link, and the first header connection line and the second header connection line may be located on opposite sides with respect to a contact portion of the connecting link and the header.

The connecting link further includes four link holes for guiding the first link connecting line, the second link connecting line, the first head connecting line, and the second head connecting line, respectively.

The surgical instrument may further include: a lower assembly member supporting an inner side of the lower auxiliary link so as to prevent the lower auxiliary link from being separated from the base gear and the lower connection gear; and an upper assembly member supporting an inner side of the upper auxiliary link so as to prevent the upper auxiliary link from being separated from the upper connecting gear and the head gear.

At least one of the lower assembly member and the upper assembly member may include a guide hole formed through a central portion thereof.

A surgical instrument according to an embodiment may include: a surgical tip; a base including a hollow base body, a first base gear and a second base gear formed to protrude from the base body; a connecting link including a connecting body having a hollow inside, a first lower connecting gear protruding from the connecting body and engaging with the first base gear, a second lower connecting gear protruding from the connecting body and engaging with the second base gear, and first and second upper connecting gears protruding in a direction opposite to a protruding direction of the first and second lower connecting gears; a head including a head body supporting the surgical tip, a first head gear protruding from the head body and meshing with the first upper connecting gear, and a second head gear protruding from the head body and meshing with the second upper connecting gear; a first link connecting wire and a second link connecting wire fixed to the connecting link through the base; and a first head connecting wire and a second head connecting wire fixed to the head portion via the base and the connecting link.

A direction in which the connecting link rotates with respect to the base may intersect with a direction in which the head portion rotates with respect to the connecting link.

The connecting link and the head portion are rotatable independently of each other.

The surgical instrument may further include: a first lower auxiliary link provided inside the base body and the connecting body and connecting the first base gear and the first lower connecting gear; a second lower auxiliary link provided inside the base body and the connecting body and connecting the second base gear and a second lower connecting gear; and a lower assembly member disposed between the first lower sub-link and the second lower sub-link.

The lower assembly member may include a guide hole formed to penetrate in a longitudinal direction of the first lower auxiliary link.

The surgical instrument may further include: a first upper auxiliary link provided inside the connecting body and the head body and connecting the first upper connecting gear and the first head gear; a second upper auxiliary link provided inside the connecting body and the head body and connecting the second upper connecting gear and the second head gear; and an upper assembly member disposed between the first upper auxiliary link and the second upper auxiliary link.

The upper assembly member may include a guide hole formed to penetrate in a longitudinal direction of the first upper auxiliary link.

Effects of the invention

The surgical instrument according to an embodiment may achieve simple and accurate control by separating multiple degrees of freedom.

Further, according to the surgical instrument of the embodiment, the structural stability of the joint portion is improved by assembling the components, and the structure such as the electric wire can be stably guided.

Drawings

The following drawings in the present specification illustrate a preferred embodiment of the present invention, and the drawings and detailed description of the present invention are provided to further understand the technical idea of the present invention, so that the present invention should not be construed as being limited to only matters recited in such drawings.

FIG. 1 is a perspective view of a surgical instrument according to an embodiment.

Fig. 2 is a side view of a surgical instrument according to an embodiment.

FIG. 3 is a front view of a surgical instrument according to an embodiment.

FIG. 4 is an exploded perspective view of a surgical instrument according to an embodiment.

FIG. 5 is a top view of a connecting link according to an embodiment.

Fig. 6 is an operational diagram of a surgical instrument according to an embodiment.

Fig. 7 is a diagram schematically illustrating first and second header connection lines according to an embodiment.

Fig. 8 is an operational diagram of a surgical instrument according to an embodiment.

FIG. 9 is a perspective view of a surgical instrument according to an embodiment.

Detailed Description

Hereinafter, examples will be described in detail with reference to the drawings. Note that, when reference numerals are given to components in each drawing, the same reference numerals are used as much as possible for the same components even when the reference numerals are different from each other. In describing the embodiments, if it is considered that specific descriptions of related known structures or functions are not helpful to understand the embodiments, detailed descriptions thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), and the like can be used. Such terms are merely to distinguish one constituent element from another constituent element, and the nature, order, sequence, or the like of the respective constituent elements are not limited by the terms. In the present specification, when one component is referred to as being "connected", "coupled" or "in contact with" another component, the one component may be directly connected or coupled to the another component, and it should be understood that the other component may be "connected", "coupled" or "in contact" between the components.

The components having the same functions as those included in one embodiment are described with the same names in other embodiments. In the case where no contents are specifically described to the contrary, the description of one embodiment can be applied to other embodiments, and a detailed description thereof will be omitted in an overlapping range.

Fig. 1 is a perspective view of a surgical instrument according to an embodiment, fig. 2 is a side view of a surgical instrument according to an embodiment, fig. 3 is a front view of a surgical instrument according to an embodiment, fig. 4 is an exploded perspective view of a surgical instrument according to an embodiment, and fig. 5 is a top view of a connecting link according to an embodiment.

Referring to fig. 1 to 5, the surgical instrument 1 may be used for laparoscopic surgery or the like. The surgical device 1 may have a compact configuration. The surgical instrument 1 can be used as a multifunctional surgical tool through a variously shaped tip portion. The surgical instrument 1 has a plurality of joints (which move apart from each other). In particular, with the surgical instrument 1, since the driving part that drives the tip portion is not affected by the movement of other joints, the tip portion can be accurately controlled. Since the surgical instrument 1 does not have a coupled joint, no interpretation with inverse kinematics and compensation by software is required. Therefore, the user can accurately control the position of the tip portion of the surgical instrument 1. Surgical instrument 1 may include base 11, connecting link 12, head 13, first lower auxiliary link 141, second lower auxiliary link 142, lower assembly component 151, first upper auxiliary link 143, second upper auxiliary link 144, upper assembly component 152, first head connection wire 171, second head connection wire 172, first link connection wire 181, second link connection wire 182, and surgical tip 19.

The base 11 may have a hollow cylindrical shape on the inner side. The base 11 may guide various surgical devices through the inner hollow, and may guide a plurality of connection lines for driving the connection links 12, the head 13, and/or the surgical tip 19. The base 11 may include a base body 111, a first base gear 112, and a second base gear 113.

The base body 111 may be formed hollow inside. For example, the base body 111 may be substantially cylindrical in shape. The base body 111 may include a plurality of base holes for guiding the first header connecting line 171, the second header connecting line 172, the first link connecting line 181, and the second link connecting line 182, respectively. The first header connecting line 171 and the second header connecting line 172 are located on opposite sides with respect to the central axis of the base body 111, and the first link connecting line 181 and the second link connecting line 182 are located on opposite sides with respect to the central axis of the base body 111. The first and second header connection lines 171 and 172 may be located at positions intersecting the first and second link connection lines 181 and 182.

The first and second base gears 112 and 113 may be formed to protrude from the base body 111. The first base gear 112 and the second base gear 113 can be provided on opposite sides with respect to a central axis (a central axis parallel to the z-axis direction) of the base body 111. The first and second base gears 112 and 113 may be provided with a plurality of gear teeth along an outer surface. The first and second base gears 112 and 113 may have a predetermined radius of curvature. The first link connection line 181 and the first head connection line 171 may be located closer to the first base gear 112 than the second base gear 113, and the second link connection line 182 and the second head connection line 172 may be located closer to the second base gear 113 than the first base gear 112. The first link connection line 181 may be located on the opposite side of the first head connection line 171 with respect to the center of the first base gear 112.

The connecting link 12 may have a cylindrical shape with a hollow inside. The connecting link 12 can guide various surgical instruments through the inner hollow, and can guide a plurality of connecting wires for driving the head 13 and/or the surgical tip 19. The connecting link 12 may include a connecting body 121, a first lower connecting gear 122, a second lower connecting gear 123, a first upper connecting gear 124, and a second upper connecting gear 125.

The connection body 121 may be formed hollow at the inner side. For example, the connecting body 121 may be substantially cylindrical in shape. The connection body 121 may include four link holes for guiding the first head connection line 171, the second head connection line 172, the first link connection line 181, and the second link connection line 182, respectively. The respective ends of the first link connecting wire 181 and the second link connecting wire 182 may be fixed to the connecting body 121.

The first lower connecting gear 122, the second lower connecting gear 123, the first upper connecting gear 124, and the second upper connecting gear 125 may be formed to protrude from the connecting body 121, respectively. The first lower connecting gear 122 and the second lower connecting gear 123 may be formed to protrude downward (in the (-z direction) from the connecting body 121, and the first upper connecting gear 124 and the second upper connecting gear 125 may be formed to protrude upward (in the z direction) from the connecting body 121. In other words, the first upper connecting gear 124 and the second upper connecting gear 125 may be formed to protrude in a direction opposite to the first lower connecting gear 122 and the second lower connecting gear 123. A virtual auxiliary line connecting the centers of the first lower connecting gear 122 and the second lower connecting gear 123 may intersect with a virtual auxiliary line connecting the centers of the first upper connecting gear 124 and the second upper connecting gear 125. For example, as can be seen from the drawings, virtual auxiliary lines connecting the centers of the first lower connecting gear 122 and the second lower connecting gear 123 may be aligned with the x-axis, and virtual auxiliary lines connecting the centers of the first upper connecting gear 124 and the second upper connecting gear 125 may be aligned with the y-axis.

The first lower connecting gear 122 may be engaged with the first base gear 112, and the second lower connecting gear 123 may be engaged with the second base gear 113. The connecting link 12 can be rotated with respect to the base 11 by the first lower connecting gear 122 and the second lower connecting gear 123. The first upper connecting gear 124 may be engaged with the first head gear 132, and the second upper connecting gear 125 may be engaged with the second head gear 133. Due to such meshing of the gears, not only the surgical instrument 1 can be stably rolled, but also it can have a structure that resists bending moment and torsion in the axial direction by being supported in such a manner as to disperse the force applied to the surgical instrument 1.

The head 13 may have a hollow shape on the inner side. The head 13 guides various surgical instruments through the inner hollow, and can guide a plurality of connecting wires for driving the surgical tip 19. The head 13 may include a head body 131, a first head gear 132, and a second head gear 133.

The head body 131 may be formed hollow at the inner side. The respective ends of the first header connecting wire 171 and the second header connecting wire 172 may be fixed to the header body 131.

The first head gear 132 and the second head gear 133 may be formed to protrude from the head body 131. The first head gear 132 and the second head gear 133 may be provided on opposite sides with respect to the central axis of the head body 131.

The direction in which connecting link 12 rotates relative to base 11 may intersect the direction in which head 13 rotates relative to connecting link 12. The user can operate the surgical tip 19 attached to the end of the surgical instrument 1 in a variety of ways. For example, the user can move the surgical tip 19 in the y direction by rotating the link 12 with respect to the base 11, and can also move the surgical tip 19 in the x direction by rotating the head 13 with respect to the link 12. The connecting link 12 and the head 13 can rotate independently of each other. For example, even if the user adjusts the tension applied to each of the first and second head connecting wires 171 and 172 to rotate the head 13 with respect to the connecting link 12, the connecting link 12 may not move with respect to the base 11.

The first lower auxiliary link 141 is provided inside the base body 111 and the connecting body 121, and can connect the first base gear 112 and the first lower connecting gear 122. The first lower auxiliary link 141 is rotatably connected to the first base gear 112 and the first lower connecting gear 122, respectively. For example, at least a part of the lower end of the first lower auxiliary link 141 may be inserted into the center of the first base gear 112, and at least a part of the upper end of the first lower auxiliary link 141 may be inserted into the center of the first lower connecting gear 122. The manner in which the first lower auxiliary link 141 is rotatably connected to the base body 111 and the connecting body 121 is not limited to this. For example, the first lower auxiliary link 141 may be connected to the base body 111 and the connecting body 121 by an additional connecting member. The first lower auxiliary link 141 may have a shape capable of stably supporting a lower assembly part 151, which will be described later. For example, the first lower auxiliary link 141 may have a shape formed along a bidirectional protrusion, thereby enclosing at least a portion of an outer surface of the lower assembly part 151.

The second lower auxiliary link 142 is provided inside the base body 111 and the connecting body 121, and can connect the second base gear 113 and the second lower connecting gear 123. The second lower auxiliary link 142 is rotatably connected to the second base gear 113 and the second lower connecting gear 123, respectively. For example, at least a portion of the lower end portion of the second lower auxiliary link 142 may be inserted into the center of the second base gear 113, and at least a portion of the upper end portion of the second lower auxiliary link 142 may be inserted into the center of the second lower connecting gear 123. The manner in which the second lower auxiliary link 142 is rotatably connected to the base body 111 and the connecting body 121 is not limited thereto. For example, the second lower auxiliary link 142 may be connected to the base body 111 and the connecting body 121 by an additional connecting member. The second lower auxiliary link 142 may have a shape capable of stably supporting a lower assembling member 151, which will be described later. For example, the second lower auxiliary link 142 may have a shape formed along a bidirectional protrusion, thereby enclosing at least a portion of the outer surface of the lower assembly part 151.

The lower assembly member 151 may be disposed between the first and second lower auxiliary links 141 and 142. The lower assembly member 151 may prevent the first and second lower auxiliary links 141 and 142 from being separated from the base body 111 or the connection body 121, respectively, in the inner direction. The lower assembly member 151 may be assembled after the first and second lower auxiliary links 141 and 142 are assembled to the base body 111 and the connecting body 121. The lower assembly member 151 may be fixed to the first and second lower sub-links 141 and 142 by welding, bonding, or the like.

The lower assembling member 151 may include a guide hole formed to penetrate in a longitudinal direction of the first lower auxiliary link 141. The first lower auxiliary link 141 may have a longitudinal direction aligned with an auxiliary line connecting the centers of the first base gear 112 and the first lower connecting gear 122. For example, the lower assembly member 151 may have a doughnut shape.

The first upper auxiliary link 143 is provided inside the connecting body 121 and the head body 131, and can connect the first upper connecting gear 124 and the first head gear 132. The first upper auxiliary link 143 is rotatably connected to the first upper connecting gear 124 and the first head gear 132, respectively. For example, at least a part of the lower end of the first upper auxiliary link 143 may be inserted into the center of the first upper connecting gear 124, and at least a part of the upper end of the first upper auxiliary link 143 may be inserted into the center of the first head gear 132. The first upper auxiliary link 143 may have a shape capable of stably supporting an upper assembly member 152, which will be described later.

The second upper auxiliary link 144 is disposed inside the connecting body 121 and the head body 131, and can connect the second upper connecting gear 125 and the second head gear 133. The second upper auxiliary link 144 is rotatably connected to the second upper connecting gear 125 and the second head gear 133, respectively. For example, at least a part of the lower end of the second upper auxiliary link 144 may be inserted into the center of the second upper connecting gear 125, and at least a part of the upper end of the second upper auxiliary link 144 may be inserted into the center of the second head gear 133. The second upper auxiliary link 144 may have a shape capable of stably supporting an upper assembly member 152, which will be described later.

The upper assembly member 152 may be disposed between the first upper auxiliary link 143 and the second upper auxiliary link 144. The upper assembly member 152 can prevent the first and second upper auxiliary links 143 and 143 from being separated from the connecting body 121 or the head body 131 in the inward direction, respectively. The upper assembly member 152 may be assembled after the first upper auxiliary link 143 and the second upper auxiliary link 144 are assembled.

The upper assembling member 152 may include a guide hole formed to penetrate in the longitudinal direction of the first upper auxiliary link 143.

The first and second head connecting wires 171 and 172 may be fixed to the head 13 by the base 11 and the connecting link. The user can rotate the head 13 with respect to the connecting link 12 by applying appropriate tension to the first and second head connecting wires 171 and 172, respectively. The first and second head connecting wires 171, 172 may be located on opposite sides with respect to the contact portion connecting the link 12 and the head 13. When the tension applied to the first head connection lines 171 is greater than the tension applied to the second head connection lines 172, the head 13 may be rotated toward the first head connection lines 171 side.

The first link connection line 181 and the second link connection line 182 may be fixed to the connecting link 12 by the base 11. The user can rotate the connecting link 12 with respect to the base 11 by applying appropriate tension to the first link connecting wire 181 and the second link connecting wire 182. The first link connection line 181 and the second link connection line 182 may be located on opposite sides with respect to the contact portion of the base 11 and the connecting link 12.

The surgical tip 19 may be mounted on the head 13. The surgical tip 19 may have various shapes such as a hook (hook) or a spatula (spatula). The operation distal end portion 19 can be operated by controlling the operation distal end portion 19 with electric wires guided by the lower assembling member 151 and the upper assembling member 152.

Fig. 6 is an operation diagram of a surgical instrument according to an embodiment, and fig. 7 is a diagram schematically illustrating first and second head connecting lines according to an embodiment.

Referring to fig. 6 and 7, while the head 13 rotates relative to the connecting link 12, the length L1 of the first head connecting line 171 and the length L2 of the second head connecting line 172 exposed to the space between the connecting link 12 and the head 13 may vary. A distance from a virtual auxiliary line passing through the center of the upper connecting gear and the center of the head gear to the first head connecting line 171 may be the same as a distance from the virtual auxiliary line to the second head connecting line 172. According to the structure as described above, while the head 13 is rotated with respect to the connecting link 12, the respective deformed lengths of the first and second head connecting lines 171 and 172 are 2R +2dsin θ/2, and the respective deformed lengths may be the same. Where R is a radius of the upper head gear and the head gear, and d is a distance from the center of the upper head gear to a portion of the second head connecting line guided by the head body. Further, θ is an angle formed by the central axis of the head 13 with respect to the central axis of the connecting link 12. While the head 13 is rotated with respect to the connecting link 12, the first head connecting wire 171 has the same deformed length as the second head connecting wire 172, and therefore, the first head connecting wire 171 and the second head connecting wire 172 can be operated so as to be tied to one reel (reel).

The relative position of the connecting link 12 with respect to the base 11 can be fixed during rotation of the head 13 with respect to the connecting link 12. For example, when the tension applied to the first head connection line 171 is greater than the tension applied to the second head connection line 172, the head 13 may rotate in the-x direction with respect to the connecting link 12, and the connecting link 12 may be maintained in a fixed state during the rotation of the head 13.

Fig. 8 is an operational diagram of a surgical instrument according to an embodiment.

Referring to fig. 8, the surgical instrument 1 can rotate the connecting link 12 relative to the base 11 while maintaining the relative positional relationship between the connecting link 12 and the head 13. Since the deformed length of the first link connecting wire is the same as the deformed length of the second link connecting wire while the connecting link 12 is rotated relative to the base 11, the first link connecting wire and the second link connecting wire can be operated so as to be bound to one Reel (Reel). The second link connection line overlaps the first header connection line 171 while being shielded by the first header connection line 171, and the lower end portion of the second header connection line overlaps the first link connection line 181 while being shielded by the first link connection line 181.

FIG. 9 is a perspective view of a surgical instrument according to an embodiment.

Referring to fig. 9, the surgical instrument 2 may include a head 21, and a surgical tip 29 attached to the head 23 and having a flat plate shape.

As described above, although the embodiments are described with reference to the limited drawings, those skilled in the art can make various modifications and variations in light of the above description. For example, even if the described techniques are performed in a different order from the described methods, and/or components of the described structures, devices, and the like are combined or combined in a different manner from the described methods, or replaced or substituted with other components or equivalents, appropriate results can be obtained.