JP7457430B2 - forceps device - Google Patents

Description

The present invention relates to a forceps device.

In recent years, proposals have been made to use robots (manipulators) in medical procedures to reduce the burden on surgeons and manpower in medical facilities. In the field of surgery, proposals have been made for surgical manipulator systems in which surgeons operate remotely controlled surgical manipulators to treat patients.

Various surgical tools are attached to the tip of a surgical manipulator, and forceps used to grasp human tissue during surgery are known as surgical tools. For example, Patent Document 1 discloses a cover for a surgical instrument, which is a cylindrical member that covers at least the periphery of the base of the surgical instrument. The surgical instrument cover is made of an insulating material.

JP 2019-195402 A

However, the surgical instrument cover described above is made of a flexible material such as rubber that can be used in endoscopic surgery. Therefore, when inserting and removing a surgical instrument through the trocar, the cover may get caught on the end of the trocar. Therefore, in some cases, the cover may come off or be displaced from the surgical treatment instrument. For example, if the cover becomes misaligned with the surgical instrument, insulation performance will be affected.

The present invention has been made in view of these circumstances, and one exemplary purpose thereof is to provide a new technique that makes it difficult for the cover to come off or shift from the forceps device.

In order to solve the above problems, a forceps device according to an aspect of the present invention includes a distal end section having a treatment section for treating a target, a columnar component connected to the distal end section, and a columnar component connected to the distal end section of the columnar component. The present invention includes a pipe connected to the side opposite to the opposite side, a cover attached from the tip end to the columnar part, and a deformation suppressing member that covers the surface of the cover and is made of a material that is less deformable than the cover.

According to this aspect, when pulling out the forceps device inserted into the trocar, it is possible to prevent the trocar from digging into the surface of the cover. Moreover, even if the trocar comes into contact with the deformation suppressing member, since the deformation suppressing member is made of a material that is less deformable than the cover, it is possible to suppress the cover from deforming and coming off.

The deformation suppressing member may be a cylindrical or ring-shaped member. This makes it possible to prevent the trocar from digging into the surface of the cover, no matter where in the circumferential direction the trocar and the forceps device come into contact.

The cover may be formed from butyl rubber or silicone rubber. The deformation suppressing member is at least one selected from the group consisting of PE (polyethylene), PP (polypropylene), PPS (polyphenylene sulfide), PEEK (polyetheretherketone), PEI (polyetherimide), and PSU (polysulfone). It may be formed from a material containing. Alternatively, the deformation suppressing member may be formed of a material containing at least one selected from the group consisting of metal materials such as SUS (stainless steel) and Al (aluminum). However, the deformation suppressing member is not limited to these materials. Thereby, the wearability of the cover made of a relatively soft material is not impaired, and deformation of the cover due to biting of the trocar after mounting can be suppressed.

A part of the surface of the portion of the cover that covers the tip portion is not covered with the deformation suppressing member. Even if the end of the trocar digs into the distal end side of the cover that is not covered by the deformation suppressing member, the cover at the distal end is difficult to bend (hard to deform), so the size (covered area) of the deformation suppressing member can be reduced.

The tip may have a joint for the operation of the treatment section. The surface of the cover that covers the joint may not be covered with a deformation suppression member. Covering the joint with a deformation suppression member made of a material that is less prone to deformation than the cover would impede the movement of the joint. Therefore, by not covering the surface of the part that covers the joint with a deformation suppression member, it is possible to reduce the operating resistance of the treatment section while preventing the cover from coming loose.

The diameter of the end face on the pipe side of the deformation suppressing member may be smaller than the diameter of the pipe. This makes it difficult for the trocar to get caught on the deformation suppressing member when pulling out the forceps device inserted into the trocar.

In addition, any combination of the above components, and conversions of the present invention between methods, devices, systems, etc., are also valid aspects of the present invention.

According to the present invention, the cover is less likely to come off the forceps device.

1 is a front view of a forceps device according to an embodiment of the present invention. FIGS. 2(a) to 2(b) are schematic diagrams for explaining how the joint cover comes off from the base cap. FIG. 3 is an enlarged view of the vicinity of the deformation suppressing member in the forceps device according to the present embodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on embodiments and with reference to the drawings. Identical or equivalent components, members, and processes shown in each drawing are designated by the same reference numerals, and redundant explanations will be omitted as appropriate. Furthermore, the embodiments are illustrative rather than limiting the invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.

(forceps device)
FIG. 1 is a front view of a forceps device according to this embodiment. A medical forceps device 10 shown in FIG. 1 includes a pair of gripping parts 12a and 12b, a support body 14 that holds the pair of gripping parts 12a and 12b, and a first rotating shaft that rotatably supports the support body 14. 16, a base component 18 that holds the first rotating shaft 16, four guide pulleys (not shown) arranged coaxially with the first rotating shaft 16, and coaxially with the pair of gripping parts 12a and 12b. The four jaw pulleys 20 to be held, the four wires 22 hung between the four guide pulleys and the four jaw pulleys 20, and the two wires 22 for rotating the support body 14 around the first rotation axis 16. The main wire 24 is provided.

The base component 18 is connected to the tip side of a base cap 26, which is a columnar component. The rear end side of the base cap 26 is connected to a pipe 28. The forceps device 10 according to the present embodiment is covered with a cylindrical joint cover 30 from the support body 14 to the rear end of the base cap 26. This makes it difficult for foreign objects to enter gaps between parts such as wires and pulleys during surgery. Note that the joint cover 30 may be configured to cover part of the gripping parts 12a and 12b in addition to the support body 14. Further, in the case of a forceps device of the type that applies electricity to the gripping portions 12a and 12b to stop bleeding in the patient's tissue, a joint cover 30 having insulating properties is used.

The base cap 26 is a cylindrical (column-shaped) resin component made of engineering plastic or the like. This makes it possible to achieve both component strength and insulation. Specifically, materials such as PEEK (polyetheretherketone) and PEI (polyetherimide) are used, but are not limited to these.

The material used for the pipe 28 is, for example, CFRP (carbon fiber reinforced plastic) or GFRP (glass fiber reinforced plastic). The material of the joint cover 30 is, for example, butyl rubber, silicone rubber, or polyethylene, but is not limited to these.

As described above, the forceps device 10 according to the present embodiment includes a distal end portion 31 having gripping portions 12a and 12b as a treatment section for treating a surgical object, a base cap 26 connected to the distal end portion 31, and a base cap 26 connected to the distal end portion 31. It includes a pipe 28 connected to the side of the cap 26 opposite to the side connected to the tip 31, and a joint cover 30 attached from the tip 31 to the base cap 26.

FIGS. 2(a) to 2(b) are schematic diagrams for explaining how the joint cover comes off from the base cap. The forceps device 10 is inserted into a patient's body via a trocar 32 during laparoscopic surgery. The inserted forceps device 10 may tilt or slide inside the patient's body. Therefore, a portion of the joint cover 30 (FIG. 2(a)) caught on the end 32a of the trocar 32 lifts up from the recess 26a of the base cap 26 when the forceps device 10 moves in the direction to remove it from the trocar 32 (FIG. 2(a)). 2(b)). Therefore, the contact area between the joint cover 30 and the recess 26a of the base cap 26 is reduced, and the reduction in friction makes it easier for the joint cover 30 to come off or for the joint cover 30 to shift relative to the base cap 26.

If force is further applied to the joint cover 30 from the trocar 32 in this state, there is a possibility that the joint cover 30 will eventually fall off from the forceps device 10. Therefore, the forceps device 10 according to the present embodiment covers the surface of the joint cover 30 so that the end portion 32a of the trocar 32 does not get caught or bit into the joint cover 30, and is made of a material that is less deformable than the joint cover 30. A deformation suppressing member 36 is provided.

FIG. 3 is an enlarged view of the vicinity of the deformation suppressing member in the forceps device according to the present embodiment. As shown in FIG. 3, the deformation suppressing member 36 is a member that covers the outer peripheral surface 30b of the joint cover 30 attached to the base cap 26. As shown in FIG. Thereby, when pulling out the forceps device 10 inserted into the trocar 32, it is possible to suppress the trocar 32 from digging into the surface 30b of the joint cover 30. Moreover, even if the trocar 32 comes into contact with the deformation suppressing member 36, since the deformation suppressing member 36 is made of a material that is less deformable than the joint cover 30, the joint cover 30 can be prevented from deforming and coming off.

The deformation suppressing member 36 according to this embodiment is a cylindrical or ring-shaped member. Thereby, the trocar 32 can be prevented from digging into the surface 30b of the joint cover 30 no matter where the contact position P where the trocar 32 and the forceps device 10 come into contact is at any position in the circumferential direction of the deformation suppressing member 36. The deformation suppressing member 36 may be provided with a slit formed in the axial direction. Thereby, the deformation suppressing member 36 can be attached to the joint cover 30 while increasing its diameter. Alternatively, the deformation suppressing member 36 may be a tape wrapped around the joint cover 30.

Further, in the joint cover 30 according to the present embodiment, a portion 30c of the surface of the portion that covers the tip portion 31 is not covered with the deformation suppressing member 36. Even if the end 32a of the trocar 32 bites into the distal end side of the joint cover 30 that is not covered by the deformation suppressing member 36, the joint cover 30 at the distal end 31 is difficult to bend (hard to deform), so the size of the deformation suppressing member 36 is (covered area) can be reduced.

Note that, as shown in FIG. 1, the distal end portion 31 according to the present embodiment has a first rotation axis 16 that serves as a joint when rotating (bending) the gripping portions 12a and 12b, which are treatment portions. It is provided. In the joint cover 30 according to the present embodiment, the surface of the portion that covers the joint portion is not covered with the deformation suppressing member. If the joint is covered with the deformation suppressing member 36 made of a material that is less deformable than the joint cover 30, the movement of the joint will be hindered. Therefore, by not covering the surface of the portion covering the joint with the deformation suppressing member 36, it is possible to suppress the joint cover 30 from coming off and reduce the operational resistance of the treatment section.

Next, the diameter and length of each part will be explained. The diameter d1 of the pipe-side end surface 30a of the joint cover 30 according to this embodiment is set in the range of 4.0 to 15.0 mm (preferably in the range of 8.4±1.5 mm). Further, the thickness of the joint cover 30 is set within a range of 0.6±0.5 mm. The diameter d2 of the deformation suppressing member 36 is set in the range of 4.1 to 15.1 mm (preferably in the range of 8.7±1.5 mm). Further, the thickness of the deformation suppressing member 36 is set, for example, in a range of 0.05 to 0.5 mm. Further, both the end surface 36a of the deformation suppressing member 36 and the end surface 30a of the joint cover 30 are preferably covered by the end surface 28a of the pipe 28.

That is, the deformation suppressing member 36 is configured such that the diameter d3 of the end surface 36a on the pipe side is equal to or smaller than the diameter d4 of the pipe 28. Although the diameter d3 according to this embodiment is the same as the diameter d2, it may be d3<d2 or d3>d2. Further, the diameter d4 is set within a range of 4.0 to 15.0 mm (preferably within a range of 8.4±1.5 mm). This makes it difficult for the end 32a of the trocar 32 to get caught on the end surface 30a of the joint cover 30 or the end surface 36a of the deformation suppressing member 36 when the forceps device 10 inserted into the trocar 32 is pulled out.

The deformation suppressing member 36 has a diameter d3 smaller than the inner diameter d5 of the trocar into which the forceps device 10 is inserted. Thereby, the forceps device 10 can be inserted into the trocar 32. The inner diameter d5 according to the present embodiment is set in the range of 5.0 to 15.0 mm (preferably in the range of 10 to 15 mm), and the effective length L2 of the trocar 32 is set in the range of 30 to 200 mm (preferably in the range of 10 to 15 mm). It is set in the range of 30 to 100 mm).

If the diameter d2 of the deformation suppression member 36 is too large, the change in posture of the forceps device 10 relative to the trocar 32 becomes small. On the other hand, if the diameter d2 is too small, the inclination α of the trocar 32 relative to the forceps device 10 tends to become large, and the bite (contact load) of the end 32a of the trocar 32 into the joint cover 30 at the contact position P becomes large. Therefore, it is advisable to set the diameter d2 of the deformation suppression member 36 and the inner diameter d5 and effective length L2 of the trocar 32 so that the inclination α is an acute angle relative to the trocar 32 through which the forceps device 10 is inserted and removed.

The base cap 26 according to the present embodiment has a through hole 26b through which the wires 22 and 24 that open, close, and rotate the gripping parts 12a and 12b, which are treatment parts, pass. Further, the length L1 of the recess 26a provided on the pipe 28 side of the base cap 26 is in the range of 7.0±3 mm, and the diameter d6 of the small diameter portion of the recess 26a is in the range of 3.0 to 11.9 mm. (preferably in the range of 7.2±1.5 mm). Further, the diameter d7 of the large diameter portion of the base cap 26 is set in the range of 3.1 to 12.0 mm (preferably in the range of 7.8±1.5 mm).

The other end surface 36b of the deformation suppressing member 36 is preferably set to be located closer to the tip than the recess 26a of the base cap 26. More preferably, the end surface 36b is closer to the treatment section than the base cap 26. As a result, even if the contact position P of the end 32a of the trocar 32 is a part 30c of the joint cover 30 that is not covered with the deformation suppressing member 36, the concave portion 26a located on the pipe 28 side with respect to the contact position P A part of the fitted joint cover 30 gets caught on the step, making it even more difficult for the joint cover 30 to come off from the base cap 26.

Note that the deformation suppressing member 36 is selected from the group consisting of PE (polyethylene), PP (polypropylene), PPS (polyphenylene sulfide), PEEK (polyetheretherketone), PEI (polyetherimide), and PSU (polysulfone). It is preferable that the material is made of a resin material containing at least one of the resin materials. Alternatively, the deformation suppressing member 36 may be formed of a material containing at least one selected from the group consisting of metal materials such as SUS (stainless steel) and Al (aluminum). However, the deformation suppressing member 36 is not limited to these materials. Thereby, the fitability of the joint cover 30 made of a relatively soft material is not impaired, and deformation of the joint cover 30 due to biting of the trocar 32 after being fitted can be suppressed.

Further, in the present embodiment, the forceps device in which the annular recess 26a is formed on the outer circumference of the base cap 26 has been described as an example, but the recess 26a is not formed, that is, there is a step corresponding to the side wall of the recess 26a. There may be no forceps device.

Although the present invention has been described above with reference to the above-described embodiments, the present invention is not limited to the above-described embodiments, and may also be applied to combinations or substitutions of the configurations of the embodiments as appropriate. It is included in the present invention. Furthermore, it is possible to appropriately rearrange the combinations and order of processing in the embodiments based on the knowledge of those skilled in the art, and to make various modifications to the embodiments, such as various design changes. Such embodiments may also be included within the scope of the present invention.

The present invention makes it difficult for the cover to come off from the forceps device.

10 forceps device, 12a, 12b gripping portion, 14 support, 16 first rotating shaft, 18 base part, 20 jaw pulley, 22, 24 wire, 26 base cap, 26a recess, 26b through hole, 28 pipe, 28a end face, 30 joint cover, 30a end face, 30b surface, 31 tip portion, 32 trocar, 32a end portion, 36 deformation suppression member, 36a, 36b end face.

Claims (6)

a distal end portion having a treatment section for treating a target;
a columnar component connected to the tip;
a pipe connected to a side of the columnar component opposite to the side connected to the tip;
a cover attached from the tip end to the columnar component;
A forceps device comprising: a deformation suppressing member that covers the outer peripheral surface of the cover and is made of a material that is less deformable than the cover. The forceps device according to claim 1, wherein the deformation suppressing member is a cylindrical or ring-shaped member. The cover is made of butyl rubber or silicone rubber,
The deformation suppressing member is made of PE (polyethylene), PP (polypropylene), PPS (polyphenylene sulfide), PEEK (polyetheretherketone), PEI (polyetherimide), PSU (polysulfone), SUS (stainless steel), and Al ( The forceps device according to claim 1 or 2, wherein the forceps device is made of a material containing at least one member selected from the group consisting of aluminum. The forceps device according to any one of claims 1 to 3, wherein a part of the surface of a portion of the cover that covers the tip portion is not covered with the deformation suppressing member. The distal end portion has a joint portion for moving the treatment portion,
5. The forceps device according to claim 1, wherein a surface of the cover that covers the joint portion is not covered with the deformation suppressing member. a distal end portion having a treatment section for treating a target;
a columnar component connected to the tip;
a pipe connected to a side of the columnar component opposite to the side connected to the tip;
a cover attached from the tip end to the columnar component;
a deformation suppressing member that covers the surface of the cover and is made of a material that is less deformable than the cover;
The forceps device is characterized in that the deformation suppressing member has a pipe-side end face having a diameter smaller than the diameter of the pipe.

Images