# US 2014/0194893 A1 · Minimally invasive surgical instrument > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0194893 A1 - Document ID: US20140194893A1 - Status: Published application - Kind: A1 - Application number: 13/979,550 - Filed: 2011-12-29 - Published: 2014-07-10 - Earliest claimed: 2011-01-12 - Inventors: Chang Wook Jeong; Hyung Tae Kim - Web page: https://patentgrep.com/patent/US20140194893A1 ## CPC - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 17/062: Needle manipulators - A61B 17/068: Surgical staplers {, e.g. containing multiple staples or clamps}({staplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105;} for performing anastomosis A61B17/115; {staplers in general B25C5/00}) - A61B 2017/00314: {Separate linked members} - A61B 2017/00323: {Cables or rods} - A61B 2017/291: {the position of the handle being adjustable with respect to the shaft} - A61B 2017/2929: {with a head rotatable about the longitudinal axis of the shaft} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract The present invention relates to a convenient, minimally invasive surgical instrument, and more particularly to a minimally invasive surgical instrument to allow a user to operate an end effector by manipulating a handling unit or the like to perform a minimally invasive surgery in a delicate and convenient manner. According to one aspect of the invention, there is provided a minimally invasive surgical instrument comprising: a shaft; an end effector being connected to one end of the shaft via a joint unit; a rotation manipulation unit being connected to to the other end of the shaft, the rotation manipulation unit comprising a gyro link including a gyro wheel; and a plurality of wires being connected between the joint unit and the gyro wheel, wherein the end effector carries out joint motion by the joint unit according to the action of at least some of the plurality of wires caused by a manipulation of the gyro wheel. ## Claims ### Claim 1 A minimally invasive surgical instrument comprising: a shaft; an end effector being connected to one end of the shaft via a joint unit; a rotation manipulation unit being connected to the other end of the shaft, the rotation manipulation unit comprising a gyro link including a gyro wheel; and a plurality of wires being connected between the joint unit and the gyro wheel, wherein the end effector carries out joint motion by the joint unit according to the action of at least some of the plurality of wires caused by a manipulation of the gyro wheel. ### Claim 2 (depends on 1) A minimally invasive surgical instrument as claimed in claim 1, wherein the joint unit comprises: a plurality of joint links; and joints for pitch direction operation and joints for yaw direction operation being formed with at least one of the plurality of joint links being interposed therebetween. ### Claim 3 (depends on 2) A minimally invasive surgical instrument as claimed in claim 2, wherein in the joint unit, there are provided at least two joints for pitch direction operation and at least two joints for yaw direction operation, and the at least two joints for pitch direction operation and the at least two joints for yaw direction operation are alternately disposed. ### Claim 4 (depends on 2) A minimally invasive surgical instrument as claimed in claim 2, wherein at least one of the plurality of joint links comprises a rotating link member at one end and another rotating link member at the other end, and the another rotating link member is disposed in the direction substantially perpendicular to the direction in which the rotating link member is disposed. ### Claim 5 (depends on 2) A minimally invasive surgical instrument as claimed in claim 2, wherein at least one of the plurality of joint links has a slope for the joint motion. ### Claim 6 (depends on 2) A minimally invasive surgical instrument as claimed in claim 2, wherein the joint unit further comprises a connecting unit for connection with the end effector; the plurality of joint links and the connecting unit comprise via holes, respectively; and each of the plurality of wires is hung in the different one of the plurality of joint links and the connecting unit via the corresponding via hole. ### Claim 7 (depends on 1) A minimally invasive surgical instrument as claimed in claim 1, wherein the gyro wheel comprises an inner via hole and an outer via hole. ### Claim 8 (depends on 7) A minimally invasive surgical instrument as claimed in claim 7, wherein each of the plurality of wires hangs in one of the inner via hole and the outer via hole. ### Claim 9 (depends on 8) A minimally invasive surgical instrument as claimed in claim 8, wherein the wires hung in the outer via hole among the plurality of wires are intended for the joints closer to the end effector than the shaft among the plurality of joints in the joint unit. ### Claim 10 (depends on 1) A minimally invasive surgical instrument as claimed in claim 1, wherein at least some of the plurality of wires are pushed or pulled as the gyro wheel operates in a pitch or yaw direction. ### Claim 11 (depends on 10) A minimally invasive surgical instrument as claimed in claim 10, wherein the rotation manipulation means further comprises a fixing means to fix the state of the operation of the gyro wheel. ### Claim 12 (depends on 1) A minimally invasive surgical instrument as claimed in claim 1, wherein the gyro wheel may operate in a roll direction. ### Claim 13 (depends on 11) A minimally invasive surgical instrument as claimed in claim 11, wherein the gyro wheel may operate in the roll direction while the operation of the gyro wheel is restricted. ### Claim 14 (depends on 1) A minimally invasive surgical instrument as claimed in claim 1, wherein the rotation manipulation unit further comprises: an external rotating drum; and an internal rotating drum, the pitch and yaw direction operations of the internal rotating drum being restricted by the external rotating drum and at least a part of the internal rotating drum being disposed in the external rotating drum, and wherein the gyro link is disposed in and connected to the internal rotating drum to operate in a roll direction together with the internal rotating drum; and the gyro wheel may only operate in the roll direction when the external rotating drum is fixed. ### Claim 15 (depends on 14) A minimally invasive surgical instrument as claimed in claim 14, wherein the external rotating drum may be fixed by an annular rotating drum fixing member and the internal diameter of the rotating drum fixing member may be reduced. ### Claim 16 (depends on 14) A minimally invasive surgical instrument as claimed in claim 14, wherein the rotation manipulation unit further comprises: a first rotating drum fixing member being spaced apart from the external rotating drum at an interval and surrounding at least a part of the external rotating drum; and a second rotating drum fixing member being inserted in a space between the external rotating drum and the first rotating drum fixing member to fix the external rotating drum. ### Claim 17 (depends on 16) A minimally invasive surgical instrument as claimed in claim 16, wherein the second rotating drum fixing member is inserted in the space as a fixing screw is fastened. ### Claim 18 (depends on 14) A minimally invasive surgical instrument as claimed in claim 14, wherein the external rotating drum may be fixed by a pressure drum. ### Claim 19 (depends on 1) A minimally invasive surgical instrument as claimed in claim 1, further comprising a handling unit being connected to the rotation manipulation unit to operate in a pitch or yaw direction together with the gyro wheel. ### Claim 20 (depends on 19) A minimally invasive surgical instrument as claimed in claim 19, wherein the operation of the handling unit may be restricted in relation to the shaft. ### Claim 21 (depends on 19) A minimally invasive surgical instrument as claimed in claim 19, wherein the handling unit further comprises a roll sprocket to operate the gyro wheel in a roll direction. ### Claim 22 (depends on 1) A minimally invasive surgical instrument as claimed in claim 1, further comprising an electric driving means to operate the gyro wheel in a pitch or yaw direction. ### Claim 23 (depends on 1) A minimally invasive surgical instrument as claimed in claim 1, further comprising an electric driving means to operate the gyro wheel in a roll direction. ### Claim 24 A minimally invasive surgical instrument comprising: a shaft; an end effector being connected to one end of the shaft via a joint unit; a rotation manipulation unit being connected to the other end of the shaft, the rotation manipulation unit comprising a wheel; and a plurality of wires being connected between the joint unit and the wheel, wherein the end effector carries out joint motion by the joint unit according to the action of at least some of the plurality of wires caused by a manipulation of the wheel. ### Claim 25 (depends on 24) A minimally invasive surgical instrument as claimed in claim 24, wherein the joint unit comprises: a plurality of joint links; and joints for pitch direction operation and joints for yaw direction operation being formed with at least one of the plurality of joint links being interposed therebetween. ### Claim 26 (depends on 25) A minimally invasive surgical instrument as claimed in claim 25, wherein in the joint unit, there are provided at least two joints for pitch direction operation and at least two joints for yaw direction operation, and the at least two joints for pitch direction operation and the at least two joints for yaw direction operation are alternately disposed. ### Claim 27 A minimally invasive surgical instrument comprising: a shaft; an end effector being connected to one end of the shaft via a joint unit; a rotation manipulation unit being connected to the other end of the shaft; and a plurality of wires being connected between the joint unit and the rotation manipulation unit, wherein the joint unit comprises: a plurality of joint links; and at least two joints for pitch direction operation and at least two joints for yaw direction operation being formed with at least one of the plurality of joint links being interposed therebetween, the at least two joints for pitch direction operation and the at least two joints for yaw direction operation being alternately disposed, and wherein the end effector carries out joint motion by the joint unit according to the action of at least some of the plurality of wires caused by a manipulation of the rotation manipulation unit.