Abstract: Provided is a surgical instrument, including: a shaft; a wrist member including a guide member, a wrist body connected to the guide member and formed with a plurality of installation holes, and a plurality of protruding members each disposed to face the wrist body and having an insertion groove, and connected to the shaft; a plurality of effectors each connected to the wrist member by a pin; a support driving unit having first through fourth rotation members inserted into pins that are mounted on the wrist member, respectively, and each first and second wires connected to the plurality of effectors and the first through fourth rotation members, respectively; a main driving unit connected to the support driving unit by wire and having at least one driving unit.

Abstract: Provided is a reciprocating rotary power transforming apparatus that can simplify its structure, reduce loss of friction energy occurring from motion transformation, and perform transformation between a reciprocating rotary motion and a uni-directional rotary motion. The reciprocating rotary power transforming apparatus includes a reciprocating rotary axis performing a reciprocating rotary motion, a uni-directional rotary axis performing a unidirectional rotary motion, a housing being disposed so that the reciprocating rotary axis and the uni-directional rotary axis may be orthogonal to each other on the same plane and being supported to un-restrict its rotation, and a motion transforming unit being connected to the reciprocating rotary axis and being constructed to perform transformation between the reciprocating rotary motion and the uni-directional rotary motion by a conical rotary motion and a twisting motion when power is transferred to the reciprocating rotary axis or to the uni-directional rotary axis.

Abstract: A reciprocating rotary engine includes a torus-shaped chamber which is divided into two regions. Each divided region forms a sealed chamber. Each sealed chamber is divided by a piston attached to a shaft whereby four sealed chambers are formed. A power converter includes two power combination devices and two motor/generator dual role electric motors. Each combination device has three rotational axes with the torques of two axes being combined together and transferred to the remaining axis. The two electric motors modulate the torque of an axis periodically in accordance with reciprocating rotary motion of the engine, to provide a counterforce to oscillating power and transfer unidirectional torque to a drive shaft.

Abstract: Provided is a reciprocating rotary power transforming apparatus that can simplify its structure, reduce loss of friction energy occurring from motion transformation, and perform transformation between a reciprocating rotary motion and a uni-directional rotary motion. The reciprocating rotary power transforming apparatus includes a reciprocating rotary axis performing a reciprocating rotary motion, a uni-directional rotary axis performing a unidirectional rotary motion, a housing being disposed so that the reciprocating rotary axis and the uni-directional rotary axis may be orthogonal to each other on the same plane and being supported to un-restrict its rotation, and a motion transforming unit being connected to the reciprocating rotary axis and being constructed to perform transformation between the reciprocating rotary motion and the uni-directional rotary motion by a conical rotary motion and a twisting motion when power is transferred to the reciprocating rotary axis or to the uni-directional rotary axis.