JP2007029274A - Operation tool device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To promptly attach and detach an operation tool part and a drive part and to simplify positioning in mounting. <P>SOLUTION: In an operation tool device 1 provided with the operation tool part 2 comprising an operation tool 6 and an operation mechanism for operating the operation tool 6 and the drive part 3 comprising a driving power transmission mechanism connected to the operation mechanism and an actuator for driving the operation mechanism through the driving power transmission mechanism and composed by freely detachably connecting the operation tool part 2 and the drive part 3, the operation tool part 2 and the drive part 3 are provided with joined surfaces 4 and 5 freely detachably joined with each other respectively, and the operation mechanism and the driving power transmission mechanism are freely detachably connected at the position of the joined surfaces 4 and 5. A plurality of magnets including the magnets of a different polarity are arranged on one of the joined surfaces, the magnets of the same polarity are continuously arranged, and the plurality of magnets of the opposite polarities are arranged on the other joined surface in mirror image symmetry to the plurality of magnets arranged on the one joined surface. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a surgical instrument device used for medical treatment, and more particularly to a surgical instrument device used as a manipulator of a surgical support device that supports minimally invasive treatment.

  In order to reduce the burden on the patient due to surgery, it is known to perform minimally invasive treatment with a small incision using a surgery support device. A surgical instrument device used as a manipulator of such a surgery support apparatus is a surgical instrument unit that integrates a surgical instrument such as forceps inserted into a patient's body and an operation mechanism for operating the surgical instrument, and operation of the surgical instrument unit. And a drive unit having an actuator for driving the mechanism through a power transmission mechanism.

  The surgical instrument of such a surgical instrument apparatus needs to be sterilized and washed prior to clinical use from the viewpoint of preventing infectious diseases and the like because it directly touches the ecological tissue during surgery. A simple sterilization method that is widespread in medical facilities is an autoclave sterilization method (under high pressure steam, 100 ° C. or higher). However, since the drive part has an actuator and an electrical component, the heat resistance and the water resistance are usually low.

  Therefore, conventionally, a surgical instrument unit that requires sterilization and cleaning and a drive unit having an actuator are configured to be detachable, and the driving force of the actuator is configured to be transmitted to a gear of the transmission mechanism unit via a gear or the like. (Patent Document 1).

  Moreover, although it is not a surgical instrument apparatus, in patent document 2, it describes that the object and drive part of a linear feed are comprised so that attachment or detachment is possible via an electromagnet.

JP 2003-24336 A JP 11-166504 A

  However, in the surgical instrument device described in Patent Document 1, since the surgical instrument part and the drive part are mechanically screwed and detachably coupled by hooks or claws, it takes time and effort to separate the surgical instrument part. It is difficult to respond to the rapid replacement of the surgical instrument during the operation. In addition, if an unnecessary external force is applied to the drive unit during the operation, an unnecessary external force may be applied to the patient via the surgical instrument unit.

  In this regard, it is conceivable to connect the surgical instrument unit and the drive unit in a detachable manner using the electromagnet described in Patent Document 2. However, in the case of a surgical instrument device having a plurality of drive shafts, the function of the surgical tool device cannot be exhibited unless the corresponding drive shafts are connected in a correct positional relationship. Therefore, it is conceivable to attach alignment marks etc. to the surgical instrument part and the drive part and connect them in the correct relationship. However, not only does the connection work take time, but if the connection is made incorrectly, the function of the surgical instrument device is demonstrated. It is not easy to use because it cannot be done.

  An object of the present invention is to enable quick attachment and detachment between a surgical instrument part and a drive part, and to simplify alignment at the time of attachment.

  In order to solve the above problems, the present invention provides a surgical instrument and a surgical instrument unit having an operation mechanism for operating the surgical instrument, a power transmission mechanism coupled to the operation mechanism, and the power transmission mechanism. A surgical instrument device comprising a drive unit having an actuator for driving the operation mechanism, wherein the surgical instrument unit and the drive unit are detachably connected, and the surgical instrument unit and the drive unit include: Each has a joint surface that is detachably joined to each other, and the operation mechanism and the power transmission mechanism are detachably connected at the position of the joint surface, and magnets having different polarities are provided on one of the joint surfaces. A plurality of magnets including a plurality of magnets arranged in a mirror image symmetrical with respect to the plurality of magnets arranged on the one joining surface and having the opposite polarity. To do.

  That is, according to the present invention, since the magnet is used to connect the surgical instrument part and the drive part, the surgical instrument part and the drive part can be quickly attached and detached. In particular, since a plurality of magnets including magnets having different polarities are arranged on one joining surface, and a plurality of magnets are arranged on the other joining surface in mirror image symmetry and with the polarity reversed, both joining The positional relationship in which the magnets arranged on the surface attract each other can be limited to one place. Thereby, the position alignment at the time of mounting | wearing can be performed easily. As a result, the surgical instrument portion can be replaced in a short time and without error. Further, even if an external force is applied to the surgical instrument device during the operation, the surgical instrument part can be easily detached, so that it is possible to avoid the possibility that an unnecessary external force is applied to the affected part.

  Further, the present invention is applied to a surgical instrument device in which the operation mechanism and the power transmission mechanism each have a plurality of drive shafts that linearly move, and a connecting means for connecting the drive shafts to each other at the distal end portion of the drive shaft is provided. it can. In this case, although the magnet provided on the joint surface can be provided separately from the connecting means, the structure can be simplified by providing the magnet at the tip of each drive shaft to form the connecting means. Even when the operation mechanism and the power transmission mechanism each have a plurality of drive shafts that rotate, the connecting means can be configured by providing a magnet at the tip of each drive shaft. However, the connecting means of the present invention is not limited to this, and can also be applied to a configuration in which the connecting means is detachably connected via a gear as described in Patent Document 1, in which case the gear on the joint surface is used. Magnets are arranged at a plurality of positions different from.

  ADVANTAGE OF THE INVENTION According to this invention, while being able to perform attachment or detachment with a surgical instrument part and a drive part rapidly, the position alignment at the time of mounting | wearing can be simplified.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram illustrating a surgical instrument device according to an embodiment of the present invention in a partial cross section. FIG. 2 is a perspective view showing a detachable state of the surgical instrument device of FIG.

  As shown in FIG. 1, the surgical instrument device 1 of the present embodiment includes a surgical instrument part 2 and a drive part 3, and the surgical instrument part 2 and the drive part 3 are detachably provided at the respective joint surfaces 4 and 5. It has been.

  The surgical instrument unit 2 includes a cylindrical casing 19 and a grasping forceps 6 attached to the casing 19, and includes a metal material or a resin excellent in heat resistance and water resistance as a whole including the inside. It is made of only material. The diameter of the housing 19 of the surgical instrument unit 2 is, for example, 30 mm to 50 mm. The diameter of the grasping forceps 6 is, for example, 3 mm to 10 mm, and has a pair of grasping blades 7 that open and close at the tip.

  The drive unit 3 includes a cylindrical housing 20 made of metal or resin and an electric motor 8 that is an electric component inside, and the diameter of the housing 20 is, for example, 30 mm to 50 mm. In order to transmit the driving force generated by the electric motor 8 to the grasping blade 7, a driving force transmission mechanism is provided inside the surgical instrument unit 2 and inside the driving unit 3. The drive force transmission mechanism inside the drive unit 3 includes gears 9 attached to the respective rotation shafts of the two electric motors 8, and two drive unit side connecting rods 11 having rack gears 10 meshing with the gears 9. It consists of. The joining rod 11 is held in the drive unit 3 so as not to be displaced by the shaft alignment spacers 12 provided at two locations.

  The driving force transmission mechanism, which is an operation mechanism inside the surgical instrument portion 2, includes two joint rods 13 on the surgical instrument portion side, and two transmission members 14 bent at right angles connected to the joint rods 13. The wire 15 connected to the transmission member 14 is operated by transmitting a driving force to the gripping blade 7. In the present embodiment, the wire 15 is used, but a rod may be used depending on a surgical tool or an operation mechanism to be attached. The joining rod 13, the member 14, and the wire 15 are held in the surgical instrument unit 2 so that the axes are not displaced by the alignment spacers 12 provided at three locations.

  At the same time when the surgical instrument unit 2 and the drive unit 3 are joined at the joint surfaces 4 and 5, the drive force transmission mechanisms are connected to transmit the drive force. Here, the configuration of the bonding surfaces 4 and 5 will be described with reference to FIGS.

  The joint surface 4 on the surgical instrument unit 2 side has a connecting member 16 formed of a magnet or a detachable engagement tape, and is provided at the distal end of the joint rod 4 on the surgical instrument unit side on the joint surface 4 side. A magnet 17 protrudes from a hole provided in the joint surface 4. Although not shown in FIG. 2, the connecting surface 5 on the drive unit 3 side is similarly provided with a connecting member 21 composed of a magnet or a detachable engaging tape that is connected to the connecting member 16 on the connecting surface 4. And a magnet 18 provided at the tip of the joining rod 11 on the drive unit side on the joining surface 5 side protrudes from a hole provided in the joining surface 5.

  The arrangement and polarity characteristics of the magnet 17 of the joint rod 13 on the surgical instrument side and the magnet 18 of the joint rod 11 on the drive unit side will be described with reference to FIG. As shown in FIG. 3 (a), the magnet 17 on the surgical instrument unit 2 side of the present embodiment is composed of an N magnet 17a and an S magnet 17b having different polarities. The magnet 18 on the drive unit 3 side is composed of an S magnet 18a and an N magnet 18b having different polarities, and is mirror-imaged with the N magnet 17a and the S magnet 17b on the surgical instrument unit 2 side, that is, copied to a mirror. The polarities of the magnets at opposite positions and at opposite positions are formed in opposite polarities.

  The N magnet 17a and the S magnet 17b are provided at the tip of the joining rod 13, respectively. Similarly, the S magnet 18a and the N magnet 18b are provided at the tip of the joining rod 11, respectively.

  When there are three joining rods that transmit the driving force, as shown in FIG. 3B, the joining rods are arranged on the same circumference, and the right end is placed on the distal end of the joining rod on the surgical instrument unit 2 side. The N magnet 17c, the S magnet 17d, and the S magnet 17e are arranged in this order, and the S magnet 18c, the N magnet 18d, and the N magnet 18e are arranged in this order counterclockwise at the tip of the joining rod on the drive unit 3 side. When there are four joining rods, as shown in FIG. 3 (c), the joining rods are arranged on the same circumference, and the N magnet 17f is rotated clockwise at the distal end of the joining rod on the surgical instrument unit 2 side. Are arranged in the order of ˜17 g and S poles 17 h to 17 i, and arranged in the order of S magnets 18 f to 18 g and N poles 18 h to 18 i in the counterclockwise direction at the tip of the joining rod on the drive unit 3 side.

  That is, a plurality of magnets including magnets having different polarities are arranged on one joining rod, and magnets having the same polarity are continuously arranged, and a plurality of magnets arranged on one joining rod are arranged on the other joining rod. On the other hand, a plurality of magnets are arranged in mirror image symmetry and with opposite polarities. That is, the magnets are attracted to each other only in one combination.

  By arranging the magnets in this way, it is possible to define the rotational phase of the circular joint surface to which the surgical instrument unit 2 and the drive unit 3 can be connected. That is, in the case of FIG. 3A, only the positions of the N pole 17a and the S pole 18a, and the S pole 17b and the N pole 18b are present. If the rotational phase of the circular joint surface is shifted by 180 °, the opposing magnets will repel each other with the same polarity and cannot be connected. In the case of FIGS. 3B and 3C as well, the rotational phase of the connectable circular joint surface is defined at one place.

  In FIG. 4, the installation method of the magnet 17 and the magnet 18 provided in the joining rod 13 and the joining rod 11 is shown. FIG. 4A shows a system in which the magnets 17 and 18 are fixed to the distal ends of the joining rods 11 and 13. Instead of this, as shown in FIG. 4B, a method of embedding and fixing magnets 17 and 18 at the tip portions of the respective joining rods 11 and 13 can be adopted. That is, a slot is formed at the tip of the joining rods 11 and 13, and the magnets 17 and 18 are inserted into the slots and fixed. Furthermore, as shown in FIG. 4C, a magnet can be magnetized at the tip of each joining rod 11 and 13.

  Here, it is preferable to use rare earth magnets or ferrite magnets such as samarium cobalt having excellent heat resistance and corrosion resistance so that the materials of the magnets 17 and 18 can withstand the autoclave sterilization method. The distance between magnets arranged on the same joint surface is set to an optimum value in consideration of the magnetic flux density and coercive force depending on the type and size of the magnet. For example, when using a samarium cobalt magnet having an outer diameter of 3 mm and a length of 9 mm, the distance between the magnets is set to be 30 mm or more. In this embodiment, since permanent magnets are used for the magnets 17 and 18, there is no problem of water resistance, but in the case of the magnet 18 on the drive unit side, an electromagnet can be used.

  Next, operation | movement of the surgical instrument apparatus 1 of this embodiment is demonstrated. When the surgical instrument unit 2 and the drive unit 3 are connected, the grasping blade 7 at the tip of the grasping forceps 6 is closed. At this time, the joint rod 13 on the surgical instrument side is in a state of protruding from the joint surface 4. Then, when the joint surface 5 of the drive unit 3 is brought closer to the joint surface 4 of the surgical instrument unit 2, as shown in FIG. 3A, the N pole 17a and the S pole 18a, and the S pole 17b and the N pole 18b When matched to the opposing normal rotational phase, the joining rod 13 and the joining rod 11 naturally attract each other and are connected. At this time, if the rotational phase is deviated, the joining rod 13 and the joining rod 11 repel each other, so that the joining rods cannot be connected. In this way, at the same time when the joining rod 13 and the joining rod 11 are coupled, the joining surfaces 4 and 5 are firmly joined by the connecting members 16 and 17, and the surgical instrument part 2 and the drive part 3 are integrated. When the electric motor 8 is driven as necessary at various times, the connecting rod 11 linearly moves in the axial direction by the rotational force via the gear 9 and the rack gear 10. This linear motion of the joining rod 11 is transmitted to the linear motion of the joining rod 13 through the magnet 17 and the magnet 18. As a result, the gripping blade 7 opens and closes via the transmission member 14 and the wire 15 connected to the joining rod 13.

  When electrical insulation between the surgical instrument unit 2 and the drive unit 3 is required, leakage can be prevented by sandwiching a clean insulating cover cloth between the joint surfaces 4 and 5. The operation can be performed more safely.

  As described above, according to the present embodiment, since the magnets 17 and 18 are used to connect the surgical instrument unit 2 and the drive unit 3, the surgical instrument unit 2 and the drive unit 3 are quickly attached and detached. be able to. In particular, the magnet 17 is formed by arranging a plurality of magnets including magnets having different polarities and continuously arranging magnets having the same polarity. Since a plurality of magnets having the opposite positions are arranged, the positional relationship in which the magnets attract each other can be limited to one place. Thereby, the position alignment at the time of mounting | wearing can be performed easily. As a result, the surgical instrument unit 2 can be replaced in a short time and without error.

  Further, even if an external force is applied to the surgical instrument device 1 during the operation, the surgical tool part is easily detached, so that it is possible to avoid the possibility that an unnecessary external force is applied to the affected part.

  In addition, since a magnet is used to join the joining rod 13 and the joining rod 11, when the affected part is treated with a force more than necessary during the operation, the joining rod is quickly detached and an inadvertent situation is avoided. it can.

  Further, the surgical instrument device 1 of the present invention is not limited to the above-described embodiment. For example, in the above embodiment, a case has been described in which a magnet related to the connection between the joining rod 11 and the tip of the joining rod 13 is provided. However, the present invention is not limited to this, and the arrangement relationship of FIG. Magnets can be placed on the joint surfaces 4, 5. In this case, as a connecting means for the joining rod 11 and the joining rod 13, for example, a magnet or a connector that can be easily attached and detached is provided separately.

  Further, magnets may be distributed and installed on each of the joining surfaces 4 and 5 and the joining rods 11 and 13.

  In the above embodiment, the driving force is transmitted via the rod. However, as described in Patent Document 1, it may be configured to be detachably connected via a gear. A plurality of magnets are arranged at positions different from those of the gears. Moreover, although the joining rods 11 and 13 are configured to transmit power by linear motion, a configuration in which power is transmitted by rotating the joining rods 11 and 13 instead may be employed.

It is a block diagram which shows the surgical instrument apparatus of one Embodiment of this invention in a partial cross section. FIG. 2 is a perspective view of the surgical instrument device of FIG. 1. It is a figure which shows the arrangement | sequence and polarity of the magnet of the joining rod by the side of a surgical instrument part, and the magnet of the joining rod by the side of a drive part. It is a figure which shows the installation system of the magnet of the joining rod by the side of a surgical instrument part, and the magnet of the joining rod by the side of a drive part.

Explanation of symbols

1: Surgical instrument device 2: Surgical instrument part 3: Drive part 4, 5: Joining surface 6: Grasping forceps
7: Grasping blade
8: Electric motor
9: Gear 10: Rack gear 11, 13: Joining rod 12: Axis alignment spacer 14: Transmission member 15: Wire 16, 21: Connection member 17, 18: Magnet 19, 20: Housing

Claims (5)

  A surgical instrument and a surgical instrument portion having an operation mechanism for operating the surgical instrument; a power transmission mechanism coupled to the operation mechanism; and an actuator for driving the operation mechanism via the power transmission mechanism A surgical instrument device in which the surgical instrument part and the drive part are detachably connected, and the surgical instrument part and the drive part have joint surfaces that are detachably joined to each other. And the operation mechanism and the power transmission mechanism are detachably coupled at the position of the joint surface, and a plurality of magnets including magnets having different polarities are arranged on one joint surface of the joint surface, and the other joint A surgical instrument device, wherein a plurality of magnets are arranged in a mirror image symmetrical with respect to a plurality of magnets arranged on the one joint surface and having opposite polarities.   The operation mechanism and the power transmission mechanism each have a plurality of drive shafts that linearly move, and a connecting means for connecting the drive shafts to each other at the tip of the drive shaft is provided. The surgical instrument device described in 1.   The surgical instrument device according to claim 2, wherein the connecting means is a magnet.   The operation mechanism and the power transmission mechanism each have a plurality of drive members that rotate, and are provided with connecting means for connecting tip end drive members of the drive members. The surgical instrument device described.   A surgical instrument and a surgical instrument portion having an operation mechanism for operating the surgical instrument; a power transmission mechanism coupled to the operation mechanism; and an actuator for driving the operation mechanism via the power transmission mechanism A surgical instrument device in which the surgical instrument part and the drive part are detachably connected, and the surgical instrument part and the drive part have joint surfaces that are detachably joined to each other. The operating mechanism and the power transmission mechanism are detachably connected at the position of the joint surface, and each have a plurality of drive shafts that linearly move, and drive shafts corresponding to the tip portions of the drive shafts Connecting means are provided, and the connecting means are respectively provided at the tips of the plurality of drive shafts of the surgical instrument portion and at the tips of the drive shafts of the drive portion. And a magnet The plurality of magnets provided on the part side are arranged including magnets having different polarities, and the magnet provided on the drive part side is mirror-image-symmetric with respect to the plurality of magnets provided on the surgical instrument part side, and A surgical instrument device characterized by being arranged with the polarity reversed.

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