CN107249491A - 医疗用机械手 - Google Patents

医疗用机械手 Download PDF

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CN107249491A
CN107249491A CN201580076955.8A CN201580076955A CN107249491A CN 107249491 A CN107249491 A CN 107249491A CN 201580076955 A CN201580076955 A CN 201580076955A CN 107249491 A CN107249491 A CN 107249491A
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strip parts
joint portion
connection member
joint
cover
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兵头亮治
竹本昌太郎
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Olympus Corp
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Olympus Corp
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Abstract

以无需增加包覆处置部附近的关节部的罩的壁厚就能够防止该罩被击穿、防止电流向处置部以外的部分流动为目的，本发明的医疗用机械手(1)具有：具有挠性的长条部(2)，其构成为包含导电性原材料的部件，能够传递扭转力矩；关节部(3)，其配置在长条部(2)的前端，具有一个以上的关节(14、15、16)，构成为包含导电性原材料的部件；处置部(4)，其安装在关节部(3)的前端，对组织进行处置；筒状的连接部件(6)，其由绝缘材料构成，将长条部(2)和关节部(3)连接起来；电缆，其以与长条部(2)和关节部(3)电绝缘的状态贯穿长条部(2)、连接部件(6)以及关节部(3)的内部，向处置部(4)提供电力；以及罩，其由绝缘材料构成，包覆关节部(3)和长条部(2)的外表面。

Description

医疗用机械手
技术领域
本发明涉及医疗用机械手。
背景技术
关于在长条部的前端经由金属制的关节部而具有电手术刀那样的处置部的医疗用机械手，公知有使用绝缘原材料的罩包覆处置部的周边的关节部等金属部分以使其不会与周边组织接触的技术(例如，参照专利文献1和专利文献2)。
并且，关于在软性的长条部的前端经由关节部而具有处置部的医疗用机械手，一般情况下，为了具有长条部的挠性、转矩传递性以及压缩性，使用金属制的螺旋管。
向处置部提供交流电压的电缆经由关节部和长条部的内部而布线，金属制的关节部与金属制的螺旋管之间借助绝缘原材料的护套或者管而绝缘。
另一方面，如上所述，关节部和螺旋管为了传递转矩而彼此连结，关节部连接有用于驱动该关节部的金属制的线。
现有技术文献
专利文献
专利文献1：日本特开2012-70953号公报
专利文献2：日本特开2012-152562号公报
发明内容
发明要解决的课题
因此，在电缆与关节部、线以及螺旋管之间形成有电容元件。螺旋管在较长的情况下有时长达2m以上，电容元件的电容变得极大。而且，在为了对组织进行处置而向电缆提供交流电压的情况下，如果包覆着处置部附近的关节部的罩与组织接触，则有时会有大电流流过而将罩击穿。
并且，包覆处置部附近的关节部的罩需要不会妨碍关节部的动作且减小关节部的外径，因此难以增加壁厚，难以提高罩的绝缘性能。
本发明是鉴于上述情况而完成的，其目的在于，提供无需增加包覆处置部附近的关节部的罩的壁厚就能够防止该罩被击穿、防止电流向处置部以外的部分流动的医疗用机械手。
用于解决课题的手段
本发明的一个方式提供一种医疗用机械手，其具有：具有挠性的长条部，其构成为包含导电性原材料的部件，能够传递扭转力矩；关节部，其配置在该长条部的前端，具有一个以上的关节，构成为包含导电性原材料的部件；处置部，其安装在该关节部的前端，对组织进行处置；筒状的连接部件，其由绝缘材料构成，配置在所述长条部与所述关节部之间而将两者连接起来；电缆，其以与所述长条部和所述关节部电绝缘的状态贯穿所述长条部、所述连接部件以及所述关节部的内部，向所述处置部提供电力；以及罩，其由绝缘材料构成，包覆所述关节部和所述长条部的外表面。
根据本方式，将医疗用机械手从处置部侧经由插入于患者体内的内窥镜或者外套管等的通道而插入到患者体内，使处置部接近处置对象部位，驱动关节部来调节处置部的位置和姿势，通过向电缆提供电力而利用处置部对处置对象部位进行适当的处置。
在该情况下，由于将关节部和长条部连接起来的连接部件由绝缘材料构成，因此能够将形成于关节部与电缆之间的电容元件的电容抑制得极小。其结果为，即使关节部被驱动而与处置对象部位附近的组织接触，罩也不会被击穿，因此能够将罩的壁厚构成得较小，能够实现关节部的细径化。并且，通过使罩较薄，能够防止关节部的动作被罩阻碍。
在上述方式中，也可以是，所述连接部件将所述长条部和所述关节部以能够传递扭转力矩的方式连接起来。
这样，在想要使处置部的姿势绕着长条部的长度轴旋转的情况下，通过在长条部的基端侧施加扭转力矩，而由长条部传递的扭转力矩经由连接部件传递给关节部，从而能够变更处置部的姿势。
在上述方式中，也可以是，所述关节部和所述连接部件以能够在沿着该连接部件的轴线的方向上插拔的方式嵌合，分别具有在嵌合状态下啮合而将彼此的周向的移动卡定的关节侧凹凸部。
这样，仅通过使关节部和连接部件在沿着连接部件的轴线的方向上嵌合，就能够使设置于两者的关节侧凹凸部彼此啮合，从而能够可靠地进行连接部件与关节部之间的扭转力矩的传递。
并且，在上述方式中，也可以是，所述连接部件和所述长条部以能够在沿着所述连接部件的轴线的方向上插拔的方式嵌合，分别具有在嵌合状态下啮合而将彼此的周向的移动卡定的长条部侧凹凸部。
这样，仅通过使长条部和连接部件在沿着连接部件的轴线的方向上嵌合，就能够使设置于两者的长条部侧凹凸部彼此啮合，从而能够可靠地进行长条部与连接部件之间的扭转力矩的传递。
并且，在上述方式中，也可以是，所述罩具有包覆所述关节部的关节侧罩和包覆所述长条部的长条部侧罩，所述关节侧罩和所述长条部侧罩延伸至局部包覆所述连接部件的位置。
这样，关节侧罩包覆关节部，长条部侧罩包覆长条部，关节侧罩和长条部罩延伸至局部包覆由绝缘材料构成的连接部件的位置，由此能够完全包覆导电性原材料的部分以使其不露到外部。
发明效果
根据本发明，实现了以下这样的效果：无需增加包覆处置部附近的关节部的罩的壁厚就能够防止该罩被击穿，从而能够防止电流向处置部以外的部分流动。
附图说明
图1是示出本发明的一个实施方式的医疗用机械手的局部立体图。
图2是示出图1的医疗用机械手的卸下了关节侧罩的状态的局部立体图。
图3是示出将图1的医疗用机械手的关节部、连接部件以及长条部连接起来的状态的局部纵剖视图。
图4是示出将图1的医疗用机械手的使关节部、连接部件以及长条部分离的状态的局部立体图。
图5是示出将图4的关节部、连接部件以及长条部组合起来的状态的局部立体图。
具体实施方式
以下，参照附图对本发明的一个实施方式的医疗用机械手1进行说明。
如图1和图2所示，本实施方式的医疗用机械手1经由设置于内窥镜或外套管等的柔性的插入部中的通道而导入到患者体内，该医疗用机械手1具有：具有挠性的长条部2，其能够模仿曲折的通道而弯曲；关节部3，其安装于该长条部2的前端；处置部4，其被该关节部3的前端支承；电缆5，其向该处置部4提供电力；连接部件6，其将长条部2和关节部3连接起来；以及罩7，其包覆关节部3和长条部2。
如图3所示，长条部2具有：螺旋管8，其是将金属制的线材卷成密合螺旋状而形成的；以及多腔管9，其贯穿该螺旋管8的内部而配置。
多腔管9由硅树脂等柔性的树脂材料构成，具有供电缆5和用于驱动关节部3的线(省略图示)等贯穿的多个贯穿孔10。
如图4所示，在螺旋管8的前端固定有筒状的凹凸部件13，该凹凸部件13是将朝向前端延伸的多个(在图例中为四个)凸部(长条部侧凹凸部)11和凹部(长条部侧凹凸部)12在周向上交替地排列而成的。
关节部3具有绕着与长条部2的长度轴垂直的轴线摆动的三个关节14、15、16，是将多个金属制的部件组合而构成的。
在关节部3的内部设置有贯穿孔17以供电缆5贯穿，使得能够向前端所支承的处置部4提供电力。
并且，如图4所示，配置于关节部3的最基端侧的基部件18具有圆筒状的嵌合部19，在该嵌合部19的外周面上与安装于上述螺旋管8的凹凸部件13同样地在周向上交替地排列具有在轴向上延伸的多个(在图例中为两个)凸部(关节侧凹凸部)20和凹部(关节侧凹凸部)21。
处置部4例如是在前端具有电极的电手术刀。
电缆5是使用由绝缘材料构成的外皮包覆金属制的电线而成的部件。
如图4所示，连接部件6具有作为圆筒状部件的嵌合部22，该嵌合部22与设置于上述螺旋管8的前端的凹凸部件13的内侧嵌合，该连接部件6在周向上排列具有在像图5所示那样使嵌合部22与凹凸部件13的内侧嵌合时与凹凸部件13的凹部12组合的凸部(长条部侧凹凸部)23和与凹凸部件13的凸部11组合的凹部(长条部侧凹凸部)24。连接部件6的基端侧的凹凸形状形成为与凹凸部件13的凹凸形状大致互补。
并且，在连接部件6的前端侧，在周向上排列具有在使关节部3的基部件18的嵌合部19与该连接部件6的内侧嵌合时与基部件18的凹部21组合的凸部(关节侧凹凸部)25和与基部件18的凸部20组合的凹部(关节侧凹凸部)26。连接部件6的前端侧的凹凸形状也是形成为与基部件18的凹凸形状大致互补。
连接部件6由硬质的绝缘材料例如PEEK、陶瓷或者聚乙烯构成。
而且，当将关节部3的基部件18、连接部件6以及螺旋管8的凹凸部件13彼此嵌合时，如图5所示，各凹部12、21、24、26与凸部11、20、23、25彼此啮合而连结，卡合成彼此不会在周向上移动。
由此，由螺旋管8传递的扭转力矩借助凹部12、24与凸部11、23的卡合而传递给连接部件6，并且传递给基部件18。
另外，在关节部3和长条部2的内部配置有用于驱动关节部3的线，为了驱动关节部3而向线赋予张力，因此即使关节部3的基部件18、连接部件6以及螺旋管8的凹凸部件13在轴向上没有被卡定，也不会在轴向上分离，维持为相嵌合的状态。
如图1所示，罩7具有：关节侧罩27，其包覆关节部3的外表面；以及长条部侧罩28，其包覆长条部2的外表面。
如图3所示，关节侧罩27和长条部侧罩28延伸配置至局部包覆连接部件6的位置，被配置成端部彼此面对的状态。
关节侧罩27由硅树脂、氟树脂或者聚氨酯树脂构成。壁厚例如是0.2mm。
长条部侧罩28由聚氨酯树脂、FEP或者硅树脂构成。壁厚例如是0.2mm。
以下，对这样构成的本实施方式的医疗用机械手1的作用进行说明
要想使用本实施方式的医疗用机械手1对患者体内的处置对象部位进行处置，将医疗用机械手1从处置部4侧经由插入于患者体内的内窥镜或者外套管等所具备的通道而插入，使从通道的前端突出的处置部4接近处置对象部位。
然后，驱动关节部3来调节处置部4的位置和姿势。而且，通过在长条部2的基端侧绕着该长条部2的长度轴施加扭转力矩，能够利用由长条部2传递的扭转力矩使关节部3旋转，从而调节处置部4绕着长条部2的长度轴的姿势。
即，由于长条部2由螺旋管8构成，因此能够将施加于基端侧的扭转力矩可靠地传递到前端侧。并且，由于固定于螺旋管8的前端的凹凸部件13与连接部件6组合而在周向上卡合，而且连接部件6与基部件18也彼此组合而在周向上卡合，因此由螺旋管8传递的扭转力矩经由连接部件6和基部件18可靠地传递给关节部3。
在本实施方式的医疗用机械手1中，隔着配置在螺旋管8和关节部3的内部的整个长度范围内的多腔管9和包覆电缆5那样的绝缘材料而配置了电缆5的布线，在提供交流电流的情况下，在螺旋管8与电缆5之间以及关节部3与电缆5之间分别形成有电容元件。
在该情况下，由于在螺旋管8与关节部3之间配置有由绝缘材料构成的连接部件6，因此在长条部2与关节部3之间不进行电荷交换。因此，关节部3的电容元件为与长条部2的电容元件独立的较小的元件，此时的电容被抑制得充分小。其结果为，具有以下这样的优点：即使关节部3进行动作而与处置对象部位的周边组织接触，由于电容元件被抑制得很小，因此不会存储大量的电荷，从而能够通过极薄的关节侧罩27充分有效地减小乃至切断漏电流。
即，由于使关节侧罩27变薄，因此能够将关节部3的外径尺寸抑制得充分小。因此，能够提高经由通道的插入容易性。并且，通过使关节侧罩27较薄，具有能够防止产生关节部3的动作被罩7妨碍的不良情况从而能够提高关节部3的操作性这样的优点。
另外，在本实施方式中，作为关节部3，例示了由金属制部件构成的情况，但也可以取而代之，使用由树脂制的部件等能够传递扭转力矩的部件构成的关节部，该关节部构成为包含由导电性材料构成的部件。
并且，在本实施方式中，例示了通过使长条部2与关节部3绝缘的连接部件6来传递来自长条部2的扭转力矩的情况，但也可以取而代之，使用如下的方法：医疗用机械手1具有输入扭转力矩的操作部(省略图示)，根据来自操作部的输入而使关节部3产生扭转力矩。在该情况下，操作部例如是线。只要通过推拉线而在关节部3中绕着长条部2的长度轴产生扭转力矩即可。
标号说明
1：医疗用机械手；2：长条部；3：关节部；4：处置部；5：电缆；6：连接部件；11、20、23、25：凸部(关节侧凹凸部、长条部侧凹凸部)；12、21、24、26：凹部(关节侧凹凸部、长条部侧凹凸部)；14、15、16：关节；27：关节侧罩；28：长条部侧罩。

Claims (5)

1.一种医疗用机械手，其具有：
具有挠性的长条部，其构成为包含导电性原材料的部件，能够传递扭转力矩；
关节部，其配置在该长条部的前端，具有一个以上的关节，构成为包含导电性原材料的部件；
处置部，其安装在该关节部的前端，对组织进行处置；
筒状的连接部件，其由绝缘材料构成，配置在所述长条部与所述关节部之间而将两者连接起来；
电缆，其以与所述长条部和所述关节部电绝缘的状态贯穿所述长条部、所述连接部件以及所述关节部的内部，向所述处置部提供电力；以及
罩，其由绝缘材料构成，包覆所述关节部和所述长条部的外表面。
2.根据权利要求1所述的医疗用机械手，其中，
所述连接部件将所述长条部和所述关节部以能够传递扭转力矩的方式连接起来。
3.根据权利要求1或2所述的医疗用机械手，其中，
所述关节部和所述连接部件以能够在沿着该连接部件的轴线的方向上插拔的方式嵌合，分别具有在嵌合状态下啮合而将彼此的周向的移动卡定的关节侧凹凸部。
4.根据权利要求1至3中的任意一项所述的医疗用机械手，其中，
所述连接部件和所述长条部以能够在沿着所述连接部件的轴线的方向上插拔的方式嵌合，分别具有在嵌合状态下啮合而将彼此的周向的移动卡定的长条部侧凹凸部。
5.根据权利要求1至4中的任意一项所述的医疗用机械手，其中，
所述罩具有包覆所述关节部的关节侧罩和包覆所述长条部的长条部侧罩，
所述关节侧罩和所述长条部侧罩延伸至局部包覆所述连接部件的位置。
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