# US 12,004,828 B2 · Multi-joint type surgical device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,004,828 B2 - Document ID: US12004828B2 - Status: Granted - Kind: B2 - Application number: 18/384,859 - Filed: 2023-10-29 - Published: 2024-02-22 - Granted: 2024-06-11 - Earliest claimed: 2021-04-28 - Assignees: Livsmed Inc. - Applicants: Livsmed Inc. - Inventors: Youngjae Song; Jung Joo Lee; Heejin Kim; Dongkyu Jang - Web page: https://patentgrep.com/patent/US12004828B2 ## CPC - A61B 34/30: Surgical robots - A61B 17/00: Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 2017/00203: {with speech control or speech recognition} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/2932: {Transmission of forces to jaw members} - A61B 2017/2939: {Details of linkages or pivot points} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B 2034/306: {Wrists with multiple vertebrae} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A multi-joint type surgical device, and more particularly, to a multi-joint type surgical device capable of being mounted on a robot arm or operated manually for use in laparoscopic surgery or various surgeries. ## Claims ### Claim 1 A multi-joint type surgical device comprising: an end tool including one or more jaws and an end tool jaw pulley coupled to the jaws and formed to be rotatable together with the jaws around a first shaft, the end tool being formed to allow at least pitch rotation and yaw rotation; a jaw wire coupled to the end tool jaw pulley and moved in response to rotation of the end tool jaw pulley; a connection part formed to extend in one direction, having the jaw wire passing therethrough, and having one end portion to which the end tool is coupled; and a driving part coupled to the other end portion of the connection part and configured to control the pitch rotation and the yaw rotation of the end tool, wherein the driving part includes: a driving part jaw pulley formed to be rotatable around a second shaft, and coupled to the jaw wire; a driving part relay pulley formed adjacent to the driving part jaw pulley, formed to rotate around a shaft fixed in position, and formed such that at least a portion of the jaw wire is wound therearound; and a driving part satellite pulley formed adjacent to the driving part relay pulley, formed to be movable relative to the driving part relay pulley so that a position thereof relative to the driving part relay pulley is changed, and formed such that at least a portion of the jaw wire is wound therearound, the end tool jaw pulley and the jaw are rotated while the jaw wire is moved in response to the rotation of the driving part jaw pulley, two strands of the jaw wire, which emerge while being wound around the driving part jaw pulley, extend toward the end tool after being sequentially wound around the driving part relay pulley, the driving part satellite pulley, and the driving part relay pulley, and when the driving part satellite pulley is moved relative to the driving part relay pulley, an overall length of the jaw wire in the driving part is changed so that the end tool performs the pitch rotation. ### Claim 2 (depends on 1) The multi-joint type surgical device of claim 1, further comprising a driving part pitch pulley disposed adjacent to the driving part jaw pulley and formed to be rotatable around a third shaft different from the second shaft, wherein the driving part satellite pulley is formed to be movable relative to the driving part pitch pulley, and when the driving part pitch pulley is rotated, a relative position of the driving part satellite pulley with respect to the third shaft is changed. ### Claim 3 (depends on 2) The multi-joint type surgical device of claim 2, wherein a relative position of the driving part pitch pulley with respect to the driving part relay pulley remains constant. ### Claim 4 (depends on 2) The multi-joint type surgical device of claim 2, wherein when the driving part pitch pulley is rotated, the driving part satellite pulley is moved in conjunction with the driving part pitch pulley. ### Claim 5 (depends on 2) The multi-joint type surgical device of claim 2, wherein when the driving part pitch pulley is rotated around the third shaft, the overall length of the jaw wire in the driving part is changed as the driving part satellite pulley is moved relative to the driving part pitch pulley. ### Claim 6 (depends on 5) The multi-joint type surgical device of claim 5, wherein due to the change in the overall length of the jaw wire in the driving part caused by the rotation of the driving part pitch pulley, an overall length of the jaw wire in the end tool is also changed. ### Claim 7 (depends on 5) The multi-joint type surgical device of claim 5, wherein even when the overall length of the jaw wire in the driving part is changed due to the rotation of the driving part pitch pulley, an overall length of the jaw wire remains constant. ### Claim 8 (depends on 2) The multi-joint type surgical device of claim 2, further comprising: an end tool jaw pitch main pulley formed adjacent to the end tool jaw pulley and formed to be rotatable around a fourth shaft different from the first shaft; and an end tool jaw pitch sub-pulley formed adjacent to the end tool jaw pitch main pulley and formed to be rotatable around a fifth shaft different from the first shaft. ### Claim 9 (depends on 8) The multi-joint type surgical device of claim 8, wherein, when the end tool is pitch-rotated, two strands of the jaw wire emerging while being wound around the end tool jaw pulley and passing through the end tool jaw pitch main pulley and the end tool jaw pitch sub-pulley are simultaneously moved in the same direction. ### Claim 10 (depends on 8) The multi-joint type surgical device of claim 8, wherein on the basis of one plane perpendicular to the first shaft and including the fourth shaft, two strands of the jaw wire, which emerge while being wound around the end tool jaw pulley, are disposed on the same side with respect to the one plane. ### Claim 11 (depends on 8) The multi-joint type surgical device of claim 8, wherein the jaws includes a first jaw and a second jaw, the end tool jaw pulley includes an end tool first jaw pulley coupled to the first jaw and an end tool second jaw pulley coupled to the second jaw, and the jaw wire includes a first jaw wire coupled to the end tool first jaw pulley and a second jaw wire coupled to the end tool second jaw pulley. ### Claim 12 (depends on 11) The multi-joint type surgical device of claim 11, wherein on the basis of a plane perpendicular to the first shaft and including the fourth shaft, two strands of the first jaw wire, which emerge while being wound around the end tool first jaw pulley, are disposed on one side with respect to the plane, and two strands of the second jaw wire, which emerge while being wound around the end tool second jaw pulley, are disposed on the other side with respect to the plane. ### Claim 13 (depends on 8) The multi-joint type surgical device of claim 8, wherein the jaw wire is formed to be sequentially in contact with the end tool jaw pulley, the end tool jaw pitch main pulley, and the end tool jaw pitch sub-pulley. ### Claim 14 (depends on 8) The multi-joint type surgical device of claim 8, further comprising: an end tool pitch pulley disposed adjacent to the end tool jaw pulley and formed to be rotatable around the fourth shaft or the fifth shaft; and a pitch wire coupled to each of the end tool pitch pulley and the driving part pitch pulley and configured to connect the end tool pitch pulley and the driving part pitch pulley to each other. ### Claim 15 (depends on 14) The multi-joint type surgical device of claim 14, wherein a rotation amount of the driving part pitch pulley and a rotation amount of the end tool pitch pulley are substantially equal to each other. ### Claim 16 (depends on 14) The multi-joint type surgical device of claim 14, wherein a ratio of a diameter of the end tool pitch pulley to a diameter of the end tool jaw pitch main pulley is substantially equal to a ratio of a diameter of the driving part pitch pulley to a diameter of the driving part relay pulley. ### Claim 17 (depends on 16) The multi-joint type surgical device of claim 16, wherein when the driving part pitch pulley is rotated by a first angle, the driving part satellite pulley is revolved by the first angle, and when the driving part pitch pulley is rotated by the first angle, the end tool pitch pulley and the end tool jaw pitch main pulley are rotated by a second angle. ### Claim 18 (depends on 2) The multi-joint type surgical device of claim 2, wherein the driving part relay pulley includes a driving part first relay pulley and a driving part second relay pulley, and the jaw wire sequentially passes through the driving part first relay pulley, the driving part satellite pulley, and the driving part second relay pulley. ### Claim 19 (depends on 18) The multi-joint type surgical device of claim 18, wherein when the driving part pitch pulley is rotated, a path length of the jaw wire from a point of entry into the driving part first relay pulley to a point of exit from the driving part second relay pulley through the driving part satellite pulley is changed. ### Claim 20 (depends on 18) The multi-joint type surgical device of claim 18, wherein when the driving part pitch pulley is rotated, on an arrangement path of the jaw wire connecting the end tool jaw pulley and the driving part jaw pulley, a path length of the jaw wire from a point at which the jaw wire is initially in contact with the driving part relay pulley to a point at which the jaw wire is finally in contact with the driving part relay pulley is changed. ### Claim 21 (depends on 18) The multi-joint type surgical device of claim 18, wherein a diameter of the driving part first relay pulley and a diameter of the driving part second relay pulley are equal to each other. ### Claim 22 (depends on 18) The multi-joint type surgical device of claim 18, wherein a diameter of the driving part first relay pulley and a diameter of the driving part second relay pulley are different from each other. ### Claim 23 (depends on 18) The multi-joint type surgical device of claim 18, wherein a diameter of the driving part relay pulley is equal to a sum of a diameter of the driving part first relay pulley and a diameter of the driving part second relay pulley. ### Claim 24 (depends on 2) The multi-joint type surgical device of claim 2, wherein the driving part relay pulley is formed to be rotatable around the third shaft, and the driving part satellite pulley is formed to be revolvable around the third shaft. ### Claim 25 (depends on 24) The multi-joint type surgical device of claim 24, wherein, when the driving part pitch pulley is rotated around the third shaft, the overall length of the jaw wire in the driving part is changed as the driving part satellite pulley connected to the driving part pitch pulley is revolved around the third shaft. ### Claim 26 (depends on 24) The multi-joint type surgical device of claim 24, wherein when the driving part pitch pulley is rotated around the third shaft, the driving part satellite pulley is rotated around the third shaft as a whole while maintaining a constant distance between a rotation axis of the driving part satellite pulley and the third shaft, in a state in which the rotation axis of the driving part satellite pulley is spaced apart from the third shaft by a certain extent. ### Claim 27 (depends on 24) The multi-joint type surgical device of claim 24, further comprising a pitch-yaw connector formed to rotate together with the driving part pitch pulley around the third shaft, wherein the driving part satellite pulley is formed on at least one end portion of the pitch-yaw connector. ### Claim 28 (depends on 27) The multi-joint type surgical device of claim 27, wherein the pitch-yaw connector includes two or more extension portions formed to extend from the center thereof, and a driving part satellite pulley central shaft is formed at an end portion of each of at least some of the extension portions. ### Claim 29 (depends on 27) The multi-joint type surgical device of claim 27, wherein the pitch-yaw connector rigidly connects the driving part pitch pulley and the driving part satellite pulley to each other, and when the driving part pitch pulley is rotated around the third shaft, the driving part satellite pulley is revolved around the third shaft. ### Claim 30 (depends on 24) The multi-joint type surgical device of claim 24, wherein, when the driving part satellite pulley is revolved around the third shaft, a length of the jaw wire wound around the driving part relay pulley is changed.