JP2001138297A - Grip mechanism - Google Patents
Grip mechanismInfo
- Publication number
- JP2001138297A JP2001138297A JP32797099A JP32797099A JP2001138297A JP 2001138297 A JP2001138297 A JP 2001138297A JP 32797099 A JP32797099 A JP 32797099A JP 32797099 A JP32797099 A JP 32797099A JP 2001138297 A JP2001138297 A JP 2001138297A
- Authority
- JP
- Japan
- Prior art keywords
- working
- spring
- gripping
- work
- grip mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010438 heat treatment Methods 0.000 claims description 49
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 45
- 238000011084 recovery Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000003780 insertion Methods 0.000 description 6
- 230000037431 insertion Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 229910045601 alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 102100036738 Guanine nucleotide-binding protein subunit alpha-11 Human genes 0.000 description 1
- 101100283445 Homo sapiens GNA11 gene Proteins 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Landscapes
- Surgical Instruments (AREA)
- Micromachines (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、先端に作業対象物
を処置する術具（たとえば、鉗子）が装着される作業部
材を導入装置内に挿通して微小な作業領域に挿入する際
に使用するグリップ機構に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for inserting a working member having a distal end on which a surgical instrument (for example, forceps) for treating a work object is inserted into a small working area through an introduction device. To a gripping mechanism.
【０００２】[0002]
【従来の技術】管状部と弾性部材とを組み合わせたグリ
ップ機構としては、たとえば特開平８−１６８９８９号
公報に記載のものがあり、また電子部品実装機用のグリ
ップ機構として、形状記憶合金線を用いた特開平６−２
４４５９０号公報に記載のものがある。2. Description of the Related Art As a grip mechanism combining a tubular portion and an elastic member, there is, for example, one described in Japanese Patent Application Laid-Open No. 8-168889. As a grip mechanism for an electronic component mounting machine, a shape memory alloy wire is used. JP-A-6-2 used
There is one described in 44590.
【０００３】さらに、形状記憶合金と超弾性バネとを組
み合わせた袋開閉装置などもある。Further, there is a bag opening / closing device in which a shape memory alloy and a super elastic spring are combined.
【０００４】[0004]
【発明が解決しようとする課題】微小な作業領域におい
て微小な作業を行なう際には、その作業を可能にする微
小作業部材が必要となる。高い精度の作業が要求される
場合には、導入装置によって作業部材を作業領域もしく
は作業領域近傍まで導入し、作業部材の交換が必要にな
った場合には導入装置を作業領域もしくは作業領域近傍
に位置させたままの状態で作業部材の交換が可能なグリ
ップ機構が必要とされていた。When a minute work is performed in a minute work area, a minute work member that enables the work is required. When high-precision work is required, introduce the work member to the work area or near the work area with the introduction device, and if the work member needs to be replaced, move the introduction device to the work area or near the work area. There has been a need for a grip mechanism that allows the working member to be replaced while still in position.
【０００５】従来、微小な作業領域に到るまでの孔の経
路が狭小でかつ長い場合、これに伴い、導入装置の管状
部材の内径も狭小でかつ長いものとなり、寸法上の制約
から導入装置の管状部材内に作業部材を挿通させること
ができず、作業部材を作業領域まで到達させることがで
きない場合があった。また、作業部材の交換が必要にな
った場合、導入装置の管状部材を作業領域から引き抜い
て外部に出し、再び必要な作業部材を管状部材に挿通さ
せるなどしていたために、作業部材の交換は大変煩わし
いものであった。Conventionally, when the path of the hole leading to the minute working area is narrow and long, the inner diameter of the tubular member of the introduction device is also small and long, and the introduction device is limited due to dimensional restrictions. In some cases, the working member cannot be inserted into the tubular member, and the working member cannot reach the work area. In addition, when it is necessary to replace the working member, the tubular member of the introduction device is pulled out of the working area and taken out, and the necessary working member is inserted again into the tubular member. It was very annoying.
【０００６】本発明の目的は、作業領域への挿入経路が
狭小かつ長いものであっても、導入装置を作業領域から
外すことなく作業部材の交換を可能とするグリップ機構
を提供することにある。It is an object of the present invention to provide a grip mechanism that allows a work member to be replaced without removing the introduction device from the work area even if the insertion path into the work area is narrow and long.
【０００７】また本発明の目的は、作業部材を作業時に
おいても安定して固定することができ、このため高精度
の作業を行なうことが可能なグリップ機構を提供するこ
とにある。Another object of the present invention is to provide a grip mechanism that can stably fix a work member even during work, and can perform high-precision work.
【０００８】[0008]
【課題を解決するための手段】上記目的を達成するため
に、本発明に係るグリップ機構の発明の構成は、先端に
作業対象物を処置する術具が装着される作業部材を、こ
の作業部材を作業領域まで導入する導入装置に固定する
ために把持するグリップ機構において、前記導入装置の
作業領域側の管状部材の内側にあって常時内径を小さく
する方向にバネ力を発生するバネ部材と、このバネ部材
を前記導入装置の作業領域側管状部材の内部の所定位置
に固定して支持する固定支持手段と、このバネ部材の内
側にあって前記作業部材を把持及び把持を解放するアク
チュエータ部材とを有し、このアクチュエータ部材は、
前記バネ部材から常時内径を小さくする方向にバネ力を
受け、通電もしくは加熱によりバネ部材のバネ力に抗し
て内径を大きくする方向に力を発生して作業部材の把持
を解放し、通電もしくは加熱の停止により前記バネ部材
からバネ力を受けて作業部材を把持するものである。In order to achieve the above object, a grip mechanism according to the present invention comprises a working member having a distal end on which a surgical instrument for treating a work object is mounted. In a gripping mechanism that is gripped to fix the introduction device to the work area, a spring member that generates a spring force in a direction to always reduce the inner diameter inside the tubular member on the work area side of the introduction device, Fixed support means for fixing and supporting the spring member at a predetermined position inside the work area side tubular member of the introduction device; and an actuator member which is inside the spring member and grips and releases the work member. And the actuator member has
The spring member constantly receives a spring force in the direction of reducing the inner diameter, and generates a force in the direction of increasing the inner diameter against the spring force of the spring member by energizing or heating to release the grip of the working member, and to apply the current or The work member is gripped by receiving a spring force from the spring member when the heating is stopped.
【０００９】そして好ましくは、前記固定支持手段は、
前記導入装置の作業領域側管状部材の内部に凹部を形成
し、この凹部にバネ部材に形成した凸部を嵌合してなる
ものである。[0009] Preferably, said fixed support means comprises:
A concave portion is formed inside the work area side tubular member of the introduction device, and a convex portion formed on a spring member is fitted into the concave portion.
【００１０】また好ましくは、バネ部材は、切り欠きを
有するものである。Preferably, the spring member has a notch.
【００１１】さらにまた好ましくは、前記アクチュエー
タ部材は、切り欠きを有する形状記憶合金リングと、こ
の形状記憶合金リングを加熱する発熱線とを作業部材の
外周に交互に配置してなるものである。Still preferably, the actuator member has a shape memory alloy ring having a notch and a heating wire for heating the shape memory alloy ring alternately arranged on the outer periphery of the working member.
【００１２】上記目的を達成するために、本発明に係る
グリップ機構の他の発明の構成は、先端に作業対象物を
処置する術具が装着される作業部材を、この作業部材を
作業領域まで導入する導入装置に固定するために把持す
るグリップ機構において、前記導入装置の作業領域側の
管状部材の内部にあって常時内径を小さくする方向にバ
ネ力を発生するバネ部材と、前記導入装置の作業領域側
管状部材の内部に凹部を形成し、この凹部にバネ部材に
形成した凸部を嵌合し、このバネ部材の内側にあって前
記作業部材を把持及び解放する切り欠きを有するアクチ
ュエータ部材とを有し、このアクチュエータ部材は、前
記バネ部材から常時内径を小さくする方向にバネ力を受
け、通電もしくは加熱によりバネ部材のバネ力に抗して
内径を大きくする方向に力を発生して作業部材を解放
し、通電もしくは加熱の停止により前記バネ部材からバ
ネ力を受けて作業部材を把持するものである。[0012] In order to achieve the above object, another configuration of the grip mechanism according to the present invention comprises a working member having a distal end on which a surgical instrument for treating a work object is mounted, and the working member being moved to a working area. In a gripping mechanism that is gripped to be fixed to the introduction device to be introduced, a spring member that is inside the tubular member on the working area side of the introduction device and constantly generates a spring force in a direction to reduce the inner diameter, Actuator member having a recess formed in the work area side tubular member, a protrusion formed in the spring member fitted in the recess, and a cutout inside the spring member for gripping and releasing the work member The actuator member receives a spring force from the spring member in a direction to always reduce the inner diameter, and increases the inner diameter against the spring force of the spring member by energizing or heating. Toward the generated force to release the working element, it is intended to grip the working member receives a spring force from the spring member by the stop of the energization or heating.
【００１３】[0013]
【発明の実施の形態】以下、本発明の実施の形態を図面
を参照して説明する。Embodiments of the present invention will be described below with reference to the drawings.
【００１４】まず、図１により、本発明に係るグリップ
機構を備える作業部材及び導入装置について説明する。First, a working member including a grip mechanism according to the present invention and an introduction device will be described with reference to FIG.
【００１５】同図において、導入装置１の作業領域側の
管状部材２は、障害物３に予め形成された孔状の経路４
に挿入され、管状部材２の端部は障害物３から突き出て
いる。さらに、管状部材２の端部から微小な作業部材５
の先端が突き出ており、この先端には作業対象物６を処
置するための鉗子等の術具７が装着されており、したが
って、術具７は作業領域もしくは作業領域の近傍に位置
していることになる。In FIG. 1, a tubular member 2 on the working area side of an introduction device 1 is provided with a hole-shaped path 4 previously formed in an obstacle 3.
And the end of the tubular member 2 protrudes from the obstacle 3. Further, a minute working member 5 is inserted from the end of the tubular member 2.
A surgical tool 7 such as forceps for treating the work object 6 is attached to the distal end of the work tool. Therefore, the surgical tool 7 is located in the working area or in the vicinity of the working area. Will be.
【００１６】導入装置の管状部材２の内部に挿通された
微小な作業部材５は、作業領域側の管状部材２の内部に
設けられたグリップ機構によって固定されており、管状
部材２の先端を作業対象物６の作業領域もしくは作業領
域の近傍に位置させたまま、管状部材２の内部において
グリップ機構により作業部材４を把持及び解放（すなわ
ち着脱）を行なう。これにより、作業部材５の先端に装
着されている術具７を所望のものに交換することができ
る。The minute working member 5 inserted into the tubular member 2 of the introducing device is fixed by a grip mechanism provided inside the tubular member 2 on the working area side, and the tip of the tubular member 2 is worked. The work member 4 is gripped and released (that is, detached) by the grip mechanism inside the tubular member 2 while the object 6 is positioned at or near the work area of the target object 6. Thereby, the surgical tool 7 attached to the distal end of the working member 5 can be replaced with a desired one.
【００１７】［実施例１］本発明の第１の実施例に係る
グリップ機構を、図２ないし図７を参照して説明する。[Embodiment 1] A grip mechanism according to a first embodiment of the present invention will be described with reference to FIGS.
【００１８】図２は、導入装置の作業領域側管状部材の
端部の斜視図であって、グリップ機構が把持状態にある
状態を示し、図３はグリップ機構が解放した状態を示
す。FIG. 2 is a perspective view of the end of the tubular member on the working area side of the introduction device, showing a state in which the grip mechanism is in a gripping state, and FIG. 3 shows a state in which the grip mechanism is released.
【００１９】同図において、導入装置１の作業領域側管
状部材２には作業部材５が端部から突き出すようにして
挿通されており、作業部材５の先端には術具７が装着さ
れている。管状部材２と作業部材５との間には、作業部
材５を管状部材２に固定して支持するグリップ機構８が
設けられている。In FIG. 1, a working member 5 is inserted through a tubular member 2 on the working area side of the introduction device 1 so as to protrude from an end thereof, and a surgical tool 7 is mounted on a tip of the working member 5. . A grip mechanism 8 is provided between the tubular member 2 and the work member 5 to fix and support the work member 5 to the tubular member 2.
【００２０】グリップ機構８は、バネ部材９とアクチュ
エータ部材１０とから構成されている。詳しくは、バネ
部材９は、導入装置１の作業領域側管状部材２の内部
（内側）に円周方向に沿って形成されたバネ材であり、
また、アクチュエータ部材１０はバネ部材９のさらに内
側にあって同じく円周方向に沿って形成された部材から
構成されている。このアクチュエータ部材１０には、導
線１１を介して通電・加熱される構成になっている。The grip mechanism 8 comprises a spring member 9 and an actuator member 10. Specifically, the spring member 9 is a spring material formed along the circumferential direction inside (inside) the work area side tubular member 2 of the introduction device 1,
The actuator member 10 is formed of a member which is further inside the spring member 9 and is also formed along the circumferential direction. The actuator member 10 is configured to be energized and heated via a conductive wire 11.
【００２１】図２は、グリップ機構８が作業部材５を把
持している状態、図３はグリップ機構８が作業部材５を
把持から解放した状態を示している。FIG. 2 shows a state in which the gripping mechanism 8 is gripping the working member 5, and FIG. 3 shows a state in which the gripping mechanism 8 releases the working member 5 from the gripping.
【００２２】図４は、グリップ機構８の把持部分の横断
面図であり、バネ部材９を管状部材２に固定して支持す
る固定支持手段の説明図である。FIG. 4 is a cross-sectional view of a grip portion of the grip mechanism 8, and is an explanatory view of fixed support means for fixing and supporting the spring member 9 to the tubular member 2.
【００２３】同図において、２ａは作業領域側の管状部
材２の内部に形成された凹部であり、９ａはバネ部材９
の外周部に形成された凸部であり、これら凹部２ａと凸
部９ａとは嵌合している。したがって、バネ部材９は管
状部材２に固定状態で支持されており、この固定支持手
段はバネ部材９の伸縮時に何ら影響を与えない構成にな
っている。In FIG. 2, reference numeral 2a denotes a concave portion formed inside the tubular member 2 on the working area side, and 9a denotes a spring member 9.
Are formed on the outer peripheral portion of the base member, and the concave portion 2a and the convex portion 9a are fitted to each other. Therefore, the spring member 9 is supported by the tubular member 2 in a fixed state, and the fixed support means does not have any effect when the spring member 9 expands and contracts.
【００２４】図５は、バネ部材９とアクチュエータ部材
１０とを取り出して示したものである。バネ部材９及び
アクチュエータ部材１０には、それぞれ切り欠き９ｂ，
１０ｂが設けられている。FIG. 5 shows the spring member 9 and the actuator member 10 taken out. The spring member 9 and the actuator member 10 have notches 9b,
10b is provided.
【００２５】図６（ａ）（ｂ）を参照して、バネ部材９
及びアクチュエータ部材１０における作業部材５の把持
及び把持から解放する場合の力の発生状況を説明する。
（ａ）において、バネ部材９の内径をａ、また、（ｂ）
においてアクチュエータ部材１０の内径をｂとしてグリ
ップ機構８の動作を説明する。図中の矢印は力の発生方
向を示す。Referring to FIGS. 6A and 6B, the spring member 9
A description will be given of the state of generation of force when the work member 5 is gripped and released from the actuator member 10 by the actuator member 10.
In (a), the inner diameter of the spring member 9 is a, and (b)
The operation of the grip mechanism 8 will be described with the inner diameter of the actuator member 10 as b. The arrow in the figure indicates the direction in which the force is generated.
【００２６】バネ部材９は常時、内径ａを小さくする方
向（実線矢印方向）に力を発生しており、アクチュエー
タ部材１０は通電もしくは加熱により内径ｂを大きくす
る方向（実線矢印方向）に力を発生し、通電もしくは加
熱を停止すると力を発生しないように作用する。アクチ
ュエータ部材１０に対して通電もしくは加熱を停止する
と、バネ部材９の発生力がアクチュエータ部材１０の発
生力を上回るようにバネ力を考慮することにより、バネ
部材９の内径ａが小さくなると共にアクチュエータ部材
１０の内径ｂも小さくなり、その内側にある作業部材５
が把持される。逆に、通電もしくは加熱を行った場合、
アクチュエータ部材１０の発生力がバネ部材９の発生力
を上回るようにバネ力を考慮することにより、バネ部材
６をアクチュエータ部材１０が押し広げ、内径ａ、ｂ、
共に大きくなり、作業部材５を解放する。ここで作業部
材５の外径をｂとする（ただし、実際は締めしろが必
要）。The spring member 9 always generates a force in the direction of decreasing the inner diameter a (in the direction of the solid arrow), and the actuator member 10 applies a force in the direction of increasing the inner diameter b by the energization or heating (in the direction of the solid arrow). When the power supply or heating is stopped, it acts so as not to generate a force. When the energization or heating of the actuator member 10 is stopped, the spring force is considered so that the generated force of the spring member 9 exceeds the generated force of the actuator member 10, so that the inner diameter a of the spring member 9 is reduced and the actuator member 10 also has a smaller inner diameter b, and the working member 5
Is gripped. Conversely, when energization or heating is performed,
By considering the spring force such that the generated force of the actuator member 10 exceeds the generated force of the spring member 9, the actuator member 10 pushes the spring member 6 apart, and the inner diameters a, b,
Both grow and release the working member 5. Here, the outer diameter of the working member 5 is assumed to be b (however, an actual margin is required).
【００２７】バネ部材９及びアクチュエータ部材１０の
寸法は、図７（ａ）（ｂ）より各部材の発生力を考慮し
て決定される。（ａ）は、外径Ｄ（ｍｍ）なるアクチュ
エータ部材１０に内径Ｄ（１−Δ）で製作したバネ部材
６を装着する時を、（ｂ）は外径Ｄなる作業部材５に外
径Ｄ（１＋Δ）で製作したアクチュエータ部材１０を装
着する時を表し、ｈは各部材の肉厚［ｍｍ］を表す。各
部材の応力は、 σ＝ｈＥΔ／Ｄ …………（１） から求まる。ここで、σは最大応力［ｋｇｆ／ｍ
ｍ2］、Ｅは縦弾性係数［ｋｇｆ／ｍｍ2］、Δは変化率
を表す。最大応力σに両部材が接する部分の面積を乗じ
ることで、最大発生力を求めることができる。バネ部材
９の発生力をＦ、アクチュエータ部材１０に対して通電
もしくは加熱をした際の発生力をＦ1、通電もしくは加
熱を停止した際の発生力をＦ2とすると、Ｆ2＜Ｆ＜Ｆ1
となる時にグリップ機構８は作業部材５を把持するよう
に作用する。The dimensions of the spring member 9 and the actuator member 10 are determined in consideration of the generated force of each member from FIGS. 7A and 7B. (A) shows the time when the spring member 6 manufactured with the inner diameter D (1-Δ) is attached to the actuator member 10 having the outer diameter D (mm). (1 + Δ) represents the time when the actuator member 10 manufactured is mounted, and h represents the thickness [mm] of each member. The stress of each member is obtained from σ = hEΔ / D (1). Here, σ is the maximum stress [kgf / m
m 2 ], E represents the modulus of longitudinal elasticity [kgf / mm 2 ], and Δ represents the rate of change. The maximum generated force can be obtained by multiplying the maximum stress σ by the area of the portion where both members are in contact. Assuming that the generated force of the spring member 9 is F, the generated force when energizing or heating the actuator member 10 is F 1 , and the generated force when energizing or heating is stopped is F 2 , F 2 <F <F 1
The grip mechanism 8 acts so as to grip the working member 5 when.
【００２８】以上説明したように、本実施例によれば、
作業領域への挿入経路が狭小かつ長いものであっても、
導入装置を作業領域から外すことなく作業部材の交換を
可能とするグリップ機構が得られる。As described above, according to this embodiment,
Even if the insertion path to the work area is narrow and long,
A grip mechanism is provided that allows the replacement of the working member without removing the introduction device from the working area.
【００２９】また、グリップ機構が導入装置の作業領域
側に設けられているので、作業部材を作業時においても
安定して固定することができ、このため高精度の作業を
行なうことが可能な把持装が得られる。Further, since the grip mechanism is provided on the work area side of the introduction device, the work member can be stably fixed even at the time of work, and therefore, a gripper capable of performing high-precision work. Equipment is obtained.
【００３０】［実施例２］本発明の第２の実施例に係る
グリップ機構を、図８ないし図１０を参照して説明す
る。[Embodiment 2] A grip mechanism according to a second embodiment of the present invention will be described with reference to FIGS.
【００３１】本実施例は、アクチュエータ部材として形
状記憶合金リングと、形状記憶合金リングを加熱する発
熱線とを交互に配置して巻く構成としたものである。こ
こで、形状記憶合金とは、変形させても熱を加えること
で変形前の元の形状に戻る合金である。In this embodiment, a shape memory alloy ring and a heating wire for heating the shape memory alloy ring are alternately arranged and wound as an actuator member. Here, the shape memory alloy is an alloy that returns to its original shape before deformation by applying heat even when deformed.
【００３２】図８において、グリップ機構１２は、切り
欠きを有する形状記憶合金リング１３と発熱線１４とは
交互に配置して巻く構成になっている。また、両者の間
隔は形状記憶合金リング１３の動作を発熱線１４が妨げ
ないように考慮されている。また、図示していないが、
形状記憶合金リング１３を導入装置１の管状部材２に固
定して支持する構造は、実施例１に示すものと同様のも
のである。In FIG. 8, the grip mechanism 12 is configured such that a shape memory alloy ring 13 having a notch and a heating wire 14 are alternately wound. The distance between them is designed so that the heating wire 14 does not hinder the operation of the shape memory alloy ring 13. Although not shown,
The structure for fixing and supporting the shape memory alloy ring 13 to the tubular member 2 of the introduction device 1 is the same as that shown in the first embodiment.
【００３３】図９は把持状態の縦断面図、図１０は把持
を解放した状態の縦断面図である。FIG. 9 is a vertical cross-sectional view showing a gripping state, and FIG. 10 is a vertical cross-sectional view showing a state where the grip is released.
【００３４】グリップ機構１２の駆動は、導線１１を介
して発熱線１４に通電することで形状記憶合金リング１
３へ熱を与え、その温度を形状回復温度以上にすること
で行われる。形状回復温度は作業領域の周囲温度に基づ
いて決められる。形状記憶合金リング１３の形状は円形
で、その内径は微小作業部材５の外径より大きく記憶さ
せる。バネ部材９の形状は同じく円形で、その内径は微
小作業部材５の外径と形状記憶合金１３との肉厚を加え
たものより小さく、またその外径は管状部材２の内径よ
り小さく製作することは実施例１と同様である。バネ部
材９及び形状記憶合金リング１３の寸法は、実施例１と
同様に各部材の発生力を考慮して決定する。The gripping mechanism 12 is driven by energizing the heating wire 14 through the conducting wire 11 so that the shape memory alloy ring 1 is turned on.
The heat treatment is performed by applying heat to 3 and making the temperature equal to or higher than the shape recovery temperature. The shape recovery temperature is determined based on the ambient temperature of the work area. The shape memory alloy ring 13 has a circular shape, and its inner diameter is larger than the outer diameter of the micro working member 5. The shape of the spring member 9 is also circular, and its inner diameter is smaller than the sum of the outer diameter of the micro working member 5 and the thickness of the shape memory alloy 13, and its outer diameter is smaller than the inner diameter of the tubular member 2. This is the same as in the first embodiment. The dimensions of the spring member 9 and the shape memory alloy ring 13 are determined in consideration of the generated force of each member as in the first embodiment.
【００３５】ここで、グリップ機構１２を内径１．８
［ｍｍ］の導入装置３に組み込み、外径１．０［ｍｍ］
の微小作業部材５を把持する時の一例を示す。バネ部材
９を肉厚０．０５［ｍｍ］、内径１．２［ｍｍ］、外径
１．３［ｍｍ］、長さ１．１［ｍｍ］で製作する。ま
た、形状記憶合金リング１３は、線径０．１５［ｍｍ］
とし、内径１．３［ｍｍ］、外径１．６［ｍｍ］で形状
記憶させたものを４箇製作する。微小作業部材５の外径
は１．０［ｍｍ］であるから、把持時の形状記憶合金リ
ング１３の内径は１．０［ｍｍ］、外径は１．３［ｍ
ｍ］となり、バネ部材９の内径は同じく１．３［ｍ
ｍ］、外径は１．６［ｍｍ］となる。Here, the grip mechanism 12 has an inner diameter of 1.8.
[Mm] is incorporated into the introduction device 3 and the outer diameter is 1.0 [mm].
An example when gripping the micro working member 5 of FIG. The spring member 9 is manufactured with a thickness of 0.05 [mm], an inner diameter of 1.2 [mm], an outer diameter of 1.3 [mm], and a length of 1.1 [mm]. The shape memory alloy ring 13 has a wire diameter of 0.15 [mm].
Then, four pieces having a shape memory with an inner diameter of 1.3 [mm] and an outer diameter of 1.6 [mm] are manufactured. Since the outer diameter of the micro working member 5 is 1.0 [mm], the inner diameter of the shape memory alloy ring 13 when gripping is 1.0 [mm] and the outer diameter is 1.3 [m].
m], and the inner diameter of the spring member 9 is also 1.3 [m
m] and the outer diameter is 1.6 [mm].
【００３６】バネ部材９としてＳＵＳ３０４を用いる
と、その応力は上記式（１）よりＥ＝１９×１０3［ｋ
ｇｆ／ｍｍ2］として、σ＝５６．２［ｋｇｆ／ｍｍ2］
となる。形状記憶合金リング１３と接する面における発
生力Ｆは、σにその部分の面積を乗じて求まり、Ｆ＝２
３２［ｋｇｆ］となる。形状記憶合金リング１３の応力
も同様にして求まる。形状回復温度以下の時、Ｅ＝３×
１０3［ｋｇｆ／ｍｍ2］として、σ＝７９．９［ｋｇｆ
／ｍｍ2］となり、バネ部材９と接する面における発生
力はＦ2＝１８０［ｋｇｆ］となる。When SUS304 is used as the spring member 9, the stress becomes E = 19 × 10 3 [k
gf / mm 2 ], σ = 56.2 [kgf / mm 2 ]
Becomes The generated force F on the surface in contact with the shape memory alloy ring 13 is obtained by multiplying σ by the area of the portion, and F = 2
It becomes 32 [kgf]. The stress of the shape memory alloy ring 13 is similarly obtained. When the temperature is below the shape recovery temperature, E = 3 ×
As 10 3 [kgf / mm 2] , σ = 79.9 [kgf
/ Mm 2 ], and the generated force on the surface in contact with the spring member 9 is F 2 = 180 [kgf].
【００３７】一方、形状回復温度以上の時、Ｅ＝６×１
０3［ｋｇｆ／ｍｍ2］として、σ＝１５９．８となり、
バネ部材９と接する面における発生力はＦ1＝３６０
［ｋｇｆ］となる。したがって、Ｆ2＜Ｆ＜Ｆ1となり、
非通電時すなわち形状回復温度以下の時はバネ部材９の
発生力が形状記憶合金リング１３の発生力を上回るので
微小作業部材５は把持され、通電時すなわち形状回復温
度以上の時は逆に形状記憶合金リング１３の発生力がバ
ネ部材９の発生力を上回るので微小作業部材５は解放さ
れる。On the other hand, when the temperature is equal to or higher than the shape recovery temperature, E = 6 × 1
Assuming that 0 3 [kgf / mm 2 ], σ = 159.8,
The generated force on the surface in contact with the spring member 9 is F 1 = 360
[Kgf]. Therefore, F 2 <F <F 1 , and
When the power is not supplied, that is, when the temperature is lower than the shape recovery temperature, the force generated by the spring member 9 exceeds the power generated by the shape memory alloy ring 13, so that the micro working member 5 is gripped. Since the force generated by the memory alloy ring 13 exceeds the force generated by the spring member 9, the micro working member 5 is released.
【００３８】発熱線１４の線径は形状記憶合金リング１
３の線径より細くし、螺旋形状にした発熱線１４の外径
はバネ部材９の内径と同じくすることで、発熱線１４が
把持動作の妨げにならないように考慮する。The diameter of the heating wire 14 is the shape memory alloy ring 1
By making the outer diameter of the spiral heating wire 14 smaller than the wire diameter of No. 3 and the inner diameter of the spring member 9, consideration is given so that the heating wire 14 does not hinder the gripping operation.
【００３９】以上説明したように、本実施例によれば、
実施例１と同様の効果が得られる。As described above, according to the present embodiment,
The same effects as in the first embodiment can be obtained.
【００４０】[0040]
【発明の効果】以上説明したように、本発明によれば、
作業領域への挿入経路が狭小かつ長いものであっても、
導入装置を作業領域から外すことなく作業部材の交換を
可能とするグリップ機構を提供することができる。As described above, according to the present invention,
Even if the insertion path to the work area is narrow and long,
It is possible to provide a grip mechanism capable of replacing a work member without removing the introduction device from the work area.
【００４１】また、グリップ機構が導入装置の作業領域
側に設けられているので、作業部材を作業時においても
安定して固定することができ、このため高精度の作業を
行なうことが可能なグリップ機構を提供することができ
る。Further, since the grip mechanism is provided on the work area side of the introduction device, the work member can be stably fixed even at the time of work, so that the grip can perform high-precision work. A mechanism can be provided.
【図１】本発明に係るグリップ機構を備える作業部材及
び導入装置の説明図である。FIG. 1 is an explanatory diagram of a working member including a grip mechanism according to the present invention and an introduction device.
【図２】本発明に係るグリップ機構の第１の実施例の、
把持状態を示す図である。FIG. 2 shows a first embodiment of a grip mechanism according to the present invention;
It is a figure showing a grasping state.
【図３】図２のグリップ機構の解放状態を示す図であ
る。FIG. 3 is a view showing a released state of the grip mechanism of FIG. 2;
【図４】グリップ機構の把持部分の横断面図であ。FIG. 4 is a cross-sectional view of a grip portion of the grip mechanism.
【図５】バネ部材とアクチュエータ部材とを取り出して
示す図である。FIG. 5 is a view showing a spring member and an actuator member taken out therefrom.
【図６】バネ部材及びアクチュエータ部材の把持及び解
放時の力の発生状況を説明する図である。FIG. 6 is a diagram illustrating a state of generation of a force when gripping and releasing a spring member and an actuator member.
【図７】バネ部材及びアクチュエータ部材の寸法関係図
である。FIG. 7 is a dimensional relationship diagram of a spring member and an actuator member.
【図８】本発明に係るグリップ機構の第２の実施例の外
観図である。FIG. 8 is an external view of a grip mechanism according to a second embodiment of the present invention.
【図９】図８の実施例の、把持状態を示す縦断面図であ
る。FIG. 9 is a longitudinal sectional view showing a gripping state of the embodiment of FIG. 8;
【図１０】図８の実施例の、解放状態を示す縦断面図で
ある。FIG. 10 is a longitudinal sectional view showing the released state of the embodiment of FIG. 8;
１…導入装置 ２…管状部材 ３…障害物 ４…経路 ５…微小な作業部材 ６…作業対象物 ７…術具 ８，１２…グリップ機構 ９…バネ部材 １０…アクチュエータ部材 １１…導線 １３…形状記憶合金リング １４…発熱線 DESCRIPTION OF SYMBOLS 1 ... Introduction apparatus 2 ... Tubular member 3 ... Obstacle 4 ... Path | route 5 ... Micro working member 6 ... Work target 7 ... Surgery tool 8, 12 ... Grip mechanism 9 ... Spring member 10 ... Actuator member 11 ... Lead wire 13 ... Shape Memory alloy ring 14: Heating wire
─────────────────────────────────────────────────────
────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成１２年７月５日（２０００．７．５）[Submission date] July 5, 2000 (2007.5.5)
【手続補正１】[Procedure amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】全文[Correction target item name] Full text
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【書類名】 明細書[Document Name] Statement
【発明の名称】 グリップ機構[Title of the Invention] Grip mechanism
【特許請求の範囲】[Claims]
【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION
【０００１】[0001]
【発明の属する技術分野】本発明は、先端に作業対象物
を処置する術具（たとえば、鉗子）が装着される作業部
材を導入装置内に挿通して微小な作業領域に挿入する際
に使用するグリップ機構に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for inserting a working member having a distal end on which a surgical instrument (for example, forceps) for treating a work object is inserted into a small working area through an introduction device. To a gripping mechanism.
【０００２】[0002]
【従来の技術】管状部と弾性部材とを組み合わせたグリ
ップ機構としては、たとえば特開平８−１６８９８９号
公報に記載のものがあり、また電子部品実装機用のグリ
ップ機構として、形状記憶合金線を用いた特開平６−２
４４５９０号公報に記載のものがある。2. Description of the Related Art As a grip mechanism combining a tubular portion and an elastic member, there is, for example, one described in Japanese Patent Application Laid-Open No. 8-168889. As a grip mechanism for an electronic component mounting machine, a shape memory alloy wire is used. JP-A-6-2 used
There is one described in 44590.
【０００３】さらに、形状記憶合金と超弾性バネとを組
み合わせた袋開閉装置などもある。Further, there is a bag opening / closing device in which a shape memory alloy and a super elastic spring are combined.
【０００４】[0004]
【発明が解決しようとする課題】微小な作業領域におい
て微小な作業を行なう際には、その作業を可能にする微
小作業部材が必要となる。高い精度の作業が要求される
場合には、導入装置によって作業部材を作業領域もしく
は作業領域近傍まで導入し、作業部材の交換が必要にな
った場合には導入装置を作業領域もしくは作業領域近傍
に位置させたままの状態で作業部材の交換が可能なグリ
ップ機構が必要とされていた。When a minute work is performed in a minute work area, a minute work member that enables the work is required. When high-precision work is required, introduce the work member to the work area or near the work area with the introduction device, and if the work member needs to be replaced, move the introduction device to the work area or near the work area. There has been a need for a grip mechanism that allows the working member to be replaced while still in position.
【０００５】従来、微小な作業領域に到るまでの孔の経
路が狭小でかつ長い場合、これに伴い、導入装置の管状
部材の内径も狭小でかつ長いものとなり、寸法上の制約
から導入装置の管状部材内に作業部材を挿通させること
ができず、作業部材を作業領域まで到達させることがで
きない場合があった。また、作業部材の交換が必要にな
った場合、導入装置の管状部材を作業領域から引き抜い
て外部に出し、再び必要な作業部材を管状部材に挿通さ
せるなどしていたために、作業部材の交換は大変煩わし
いものであった。Conventionally, when the path of the hole leading to the minute working area is narrow and long, the inner diameter of the tubular member of the introduction device is also small and long, and the introduction device is limited due to dimensional restrictions. In some cases, the working member cannot be inserted into the tubular member, and the working member cannot reach the work area. In addition, when it is necessary to replace the working member, the tubular member of the introduction device is pulled out of the working area and taken out, and the necessary working member is inserted again into the tubular member. It was very annoying.
【０００６】本発明の目的は、作業領域への挿入経路が
狭小かつ長いものであっても、導入装置を作業領域から
外すことなく作業部材の交換を可能とするグリップ機構
を提供することにある。It is an object of the present invention to provide a grip mechanism that allows a work member to be replaced without removing the introduction device from the work area even if the insertion path into the work area is narrow and long.
【０００７】また本発明の目的は、作業部材を作業時に
おいても安定して固定することができ、このため高精度
の作業を行なうことが可能なグリップ機構を提供するこ
とにある。Another object of the present invention is to provide a grip mechanism that can stably fix a work member even during work, and can perform high-precision work.
【０００８】[0008]
【課題を解決するための手段】上記目的を達成するため
に、本発明に係るグリップ機構の発明の構成は、先端に
作業対象物を処置する術具が装着される作業部材を、作
業領域まで導入する導入装置に固定するために把持する
グリップ機構において、前記導入装置の作業領域側の管
状部材の内側にあって常時内径を小さくする方向にバネ
力を発生するバネ部材と、このバネ部材を前記導入装置
の作業領域側管状部材の内部の所定位置に固定して支持
する固定支持手段と、このバネ部材の内側にあって前記
作業部材を把持及び把持を解放するアクチュエータ部材
とを有し、このアクチュエータ部材は、前記バネ部材か
ら常時内径を小さくする方向にバネ力を受け、通電もし
くは加熱によりバネ部材のバネ力に抗して内径を大きく
する方向に力を発生して作業部材の把持を解放し、通電
もしくは加熱の停止により前記バネ部材からバネ力を受
けて作業部材を把持するものである。In order to achieve the above object, a grip mechanism according to the present invention comprises a working member having a distal end on which a surgical instrument for treating a work object is mounted.
In the gripping mechanism for gripping to secure the introduction device for introducing to work areas, and a spring member for generating a spring force in a direction to reduce the constant inside diameter In the inside of the working region side of the tubular member of the introducer, the Fixed support means for fixing and supporting a spring member at a predetermined position inside the work area side tubular member of the introduction device, and an actuator member for holding and releasing the work member inside the spring member. The actuator member receives a spring force from the spring member in a direction to reduce the inner diameter at all times, and generates a force in a direction to increase the inner diameter against the spring force of the spring member by energizing or heating. Is released, and the working member is gripped by receiving a spring force from the spring member by stopping power supply or heating.
【０００９】そして好ましくは、前記固定支持手段は、
前記導入装置の作業領域側管状部材の内部に凹部を形成
し、この凹部にバネ部材に形成した凸部を嵌合してなる
ものである。[0009] Preferably, said fixed support means comprises:
A concave portion is formed inside the work area side tubular member of the introduction device, and a convex portion formed on a spring member is fitted into the concave portion.
【００１０】また好ましくは、バネ部材は、切り欠きを
有するものである。Preferably, the spring member has a notch.
【００１１】さらにまた好ましくは、前記アクチュエー
タ部材は、切り欠きを有する形状記憶合金リングと、こ
の形状記憶合金リングを加熱する発熱線とを作業部材の
外周に交互に配置してなるものである。Still preferably, the actuator member has a shape memory alloy ring having a notch and a heating wire for heating the shape memory alloy ring alternately arranged on the outer periphery of the working member.
【００１２】上記目的を達成するために、本発明に係る
グリップ機構の他の発明の構成は、先端に作業対象物を
処置する術具が装着される作業部材を、作業領域まで導
入する導入装置に固定するために把持するグリップ機構
において、前記導入装置の作業領域側の管状部材の内部
にあって常時内径を小さくする方向にバネ力を発生する
バネ部材と、前記導入装置の作業領域側管状部材の内部
に凹部を形成し、この凹部にバネ部材に形成した凸部を
嵌合し、このバネ部材の内側にあって前記作業部材を把
持及び解放する切り欠きを有するアクチュエータ部材と
を有し、このアクチュエータ部材は、前記バネ部材から
常時内径を小さくする方向にバネ力を受け、通電もしく
は加熱によりバネ部材のバネ力に抗して内径を大きくす
る方向に力を発生して作業部材を解放し、通電もしくは
加熱の停止により前記バネ部材からバネ力を受けて作業
部材を把持するものである。In order to achieve the above object, another aspect of the grip mechanism according to the present invention is an introduction device for introducing a working member having a distal end on which a surgical instrument for treating a work object is mounted to a work area. A gripping mechanism for gripping the fixing device, the spring member being inside the tubular member on the working area side of the introduction device and constantly generating a spring force in a direction to reduce the inner diameter; An actuator member having a recess formed in the inside of the member, a projection formed on the spring member fitted in the recess, and a notch inside the spring member for gripping and releasing the working member. The actuator member always receives a spring force from the spring member in a direction to reduce the inner diameter, and generates a force in a direction to increase the inner diameter against the spring force of the spring member by energizing or heating. Releasing the working element Te, it is intended to grip the working member receives a spring force from the spring member by the stop of the energization or heating.
【００１３】[0013]
【発明の実施の形態】以下、本発明の実施の形態を図面
を参照して説明する。Embodiments of the present invention will be described below with reference to the drawings.
【００１４】まず、図１により、本発明に係るグリップ
機構を備える作業部材及び導入装置について説明する。First, a working member including a grip mechanism according to the present invention and an introduction device will be described with reference to FIG.
【００１５】同図において、導入装置１の作業領域側の
管状部材２は、障害物３に予め形成された孔状の経路４
に挿入され、管状部材２の端部は障害物３から突き出て
いる。さらに、管状部材２の端部から微小な作業部材５
の先端が突き出ており、この先端には作業対象物６を処
置するための鉗子等の術具７が装着されており、したが
って、術具７は作業領域もしくは作業領域の近傍に位置
していることになる。In FIG. 1, a tubular member 2 on the working area side of an introduction device 1 is provided with a hole-shaped path 4 previously formed in an obstacle 3.
And the end of the tubular member 2 protrudes from the obstacle 3. Further, a minute working member 5 is inserted from the end of the tubular member 2.
A surgical tool 7 such as forceps for treating the work object 6 is attached to the distal end of the work tool. Therefore, the surgical tool 7 is located in the working area or in the vicinity of the working area. Will be.
【００１６】導入装置の管状部材２の内部に挿通された
微小な作業部材５は、作業領域側の管状部材２の内部に
設けられたグリップ機構によって固定されており、管状
部材２の先端を作業対象物６の作業領域もしくは作業領
域の近傍に位置させたまま、管状部材２の内部において
グリップ機構により作業部材５を把持及び解放（すなわ
ち着脱）を行なう。これにより、作業部材５の先端に装
着されている術具７を所望のものに交換することができ
る。The minute working member 5 inserted into the tubular member 2 of the introducing device is fixed by a grip mechanism provided inside the tubular member 2 on the working area side, and the tip of the tubular member 2 is worked. The work member 5 is gripped and released (that is, attached and detached) by the grip mechanism inside the tubular member 2 while being positioned in the work area of the object 6 or in the vicinity of the work area. Thereby, the surgical tool 7 attached to the distal end of the working member 5 can be replaced with a desired one.
【００１７】［実施例１］本発明の第１の実施例に係る
グリップ機構を、図２ないし図７を参照して説明する。[Embodiment 1] A grip mechanism according to a first embodiment of the present invention will be described with reference to FIGS.
【００１８】図２は、導入装置の作業領域側管状部材の
端部の斜視図であって、グリップ機構が把持状態にある
状態を示し、図３はグリップ機構が解放した状態を示
す。FIG. 2 is a perspective view of the end of the tubular member on the working area side of the introduction device, showing a state in which the grip mechanism is in a gripping state, and FIG. 3 shows a state in which the grip mechanism is released.
【００１９】同図において、導入装置１の作業領域側管
状部材２には作業部材５が端部から突き出すようにして
挿通されており、作業部材５の先端には術具７が装着さ
れている。管状部材２と作業部材５との間には、作業部
材５を管状部材２に固定して支持するグリップ機構８が
設けられている。In FIG. 1, a working member 5 is inserted through a tubular member 2 on the working area side of the introduction device 1 so as to protrude from an end thereof, and a surgical tool 7 is mounted on a tip of the working member 5. . A grip mechanism 8 is provided between the tubular member 2 and the work member 5 to fix and support the work member 5 to the tubular member 2.
【００２０】グリップ機構８は、バネ部材９とアクチュ
エータ部材１０とから構成されている。詳しくは、バネ
部材９は、導入装置１の作業領域側管状部材２の内部
（内側）に円周方向に沿って形成されたバネ材であり、
また、アクチュエータ部材１０はバネ部材９のさらに内
側にあって同じく円周方向に沿って形成された部材から
構成されている。このアクチュエータ部材１０には、導
線１１を介して通電・加熱される構成になっている。The grip mechanism 8 comprises a spring member 9 and an actuator member 10. Specifically, the spring member 9 is a spring material formed along the circumferential direction inside (inside) the work area side tubular member 2 of the introduction device 1,
The actuator member 10 is formed of a member which is further inside the spring member 9 and is also formed along the circumferential direction. The actuator member 10 is configured to be energized and heated via a conductive wire 11.
【００２１】図２は、グリップ機構８が作業部材５を把
持している状態、図３はグリップ機構８が作業部材５を
把持から解放した状態を示している。FIG. 2 shows a state in which the gripping mechanism 8 is gripping the working member 5, and FIG. 3 shows a state in which the gripping mechanism 8 releases the working member 5 from the gripping.
【００２２】図４は、グリップ機構８の把持部分の横断
面図であり、バネ部材９を管状部材２に固定して支持す
る固定支持手段の説明図である。FIG. 4 is a cross-sectional view of a grip portion of the grip mechanism 8, and is an explanatory view of fixed support means for fixing and supporting the spring member 9 to the tubular member 2.
【００２３】同図において、２ａは作業領域側の管状部
材２の内部に形成された凹部であり、９ａはバネ部材９
の外周部に形成された凸部であり、これら凹部２ａと凸
部９ａとは嵌合している。したがって、バネ部材９は管
状部材２に固定状態で支持されており、この固定支持手
段はバネ部材９の伸縮時に何ら影響を与えない構成にな
っている。In FIG. 2, reference numeral 2a denotes a concave portion formed inside the tubular member 2 on the working area side, and 9a denotes a spring member 9.
Are formed on the outer peripheral portion of the base member, and the concave portion 2a and the convex portion 9a are fitted to each other. Therefore, the spring member 9 is supported by the tubular member 2 in a fixed state, and the fixed support means does not have any effect when the spring member 9 expands and contracts.
【００２４】図５は、バネ部材９とアクチュエータ部材
１０とを取り出して示したものである。バネ部材９及び
アクチュエータ部材１０には、それぞれ切り欠き９ｂ，
１０ｂが設けられている。FIG. 5 shows the spring member 9 and the actuator member 10 taken out. The spring member 9 and the actuator member 10 have notches 9b,
10b is provided.
【００２５】図６（ａ）（ｂ）を参照して、バネ部材９
及びアクチュエータ部材１０における作業部材５の把持
及び把持から解放する場合の力の発生状況を説明する。
（ａ）において、バネ部材９の内径をａ、また、（ｂ）
においてアクチュエータ部材１０の内径をｂとしてグリ
ップ機構８の動作を説明する。図中の矢印は力の発生方
向を示す。Referring to FIGS. 6A and 6B, the spring member 9
A description will be given of the state of generation of force when the work member 5 is gripped and released from the actuator member 10 by the actuator member 10.
In (a), the inner diameter of the spring member 9 is a, and (b)
The operation of the grip mechanism 8 will be described with the inner diameter of the actuator member 10 as b. The arrow in the figure indicates the direction in which the force is generated.
【００２６】バネ部材９は常時、内径ａを小さくする方
向（実線矢印方向）に力を発生しており、アクチュエー
タ部材１０は通電もしくは加熱により内径ｂを大きくす
る方向（実線矢印方向）に力を発生し、通電もしくは加
熱を停止すると力を発生しないように作用する。アクチ
ュエータ部材１０に対して通電もしくは加熱を停止する
と、バネ部材９の発生力がアクチュエータ部材１０の発
生力を上回るようにバネ力を考慮することにより、バネ
部材９の内径ａが小さくなると共にアクチュエータ部材
１０の内径ｂも小さくなり、その内側にある作業部材５
が把持される。逆に、通電もしくは加熱を行った場合、
アクチュエータ部材１０の発生力がバネ部材９の発生力
を上回るようにバネ力を考慮することにより、バネ部材
９をアクチュエータ部材１０が押し広げ、内径ａ、ｂ、
共に大きくなり、作業部材５を解放する。ここで作業部
材５の外径をｂとする（ただし、実際は締めしろが必
要）。The spring member 9 always generates a force in the direction of decreasing the inner diameter a (in the direction of the solid arrow), and the actuator member 10 applies a force in the direction of increasing the inner diameter b by the energization or heating (in the direction of the solid arrow). When the power supply or heating is stopped, it acts so as not to generate a force. When the energization or heating of the actuator member 10 is stopped, the spring force is considered so that the generated force of the spring member 9 exceeds the generated force of the actuator member 10, so that the inner diameter a of the spring member 9 is reduced and the actuator member 10 also has a smaller inner diameter b, and the working member 5
Is gripped. Conversely, when energization or heating is performed,
By considering the spring force such that the force generated by the actuator member 10 exceeds the force generated by the spring member 9, the spring member
9 , the actuator member 10 spreads the inner diameters a, b,
Both grow and release the working member 5. Here, the outer diameter of the working member 5 is assumed to be b (however, an actual margin is required).
【００２７】バネ部材９及びアクチュエータ部材１０の
寸法は、図７（ａ）（ｂ）より各部材の発生力を考慮し
て決定される。（ａ）は、外径Ｄ（ｍｍ）なるアクチュ
エータ部材１０に内径Ｄ（１−Δ）で製作したバネ部材
９を装着する時を、（ｂ）は外径Ｄなる作業部材５に外
径Ｄ（１＋Δ）で製作したアクチュエータ部材１０を装
着する時を表し、ｈは各部材の肉厚［ｍｍ］を表す。各
部材の応力は、 σ＝ｈＥΔ／Ｄ …………（１） から求まる。ここで、σは最大応力［ｋｇｆ／ｍ
ｍ2］、Ｅは縦弾性係数［ｋｇｆ／ｍｍ2］、Δは変化率
を表す。最大応力σに両部材が接する部分の面積を乗じ
ることで、最大発生力を求めることができる。バネ部材
９の発生力をＦ、アクチュエータ部材１０に対して通電
もしくは加熱をした際の発生力をＦ1、通電もしくは加
熱を停止した際の発生力をＦ2とすると、Ｆ2＜Ｆ＜Ｆ1
となる時にグリップ機構８は作業部材５を把持するよう
に作用する。The dimensions of the spring member 9 and the actuator member 10 are determined in consideration of the generated force of each member from FIGS. 7A and 7B. (A) is a spring member manufactured with an inner diameter D (1-Δ) on an actuator member 10 having an outer diameter D (mm).
9 shows the case where the actuator member 10 manufactured with the outer diameter D (1 + Δ) is mounted on the working member 5 having the outer diameter D, and h shows the thickness [mm] of each member. . The stress of each member is obtained from σ = hEΔ / D (1). Here, σ is the maximum stress [kgf / m
m 2 ], E represents the modulus of longitudinal elasticity [kgf / mm 2 ], and Δ represents the rate of change. The maximum generated force can be obtained by multiplying the maximum stress σ by the area of the portion where both members are in contact. Assuming that the generated force of the spring member 9 is F, the generated force when energizing or heating the actuator member 10 is F 1 , and the generated force when energizing or heating is stopped is F 2 , F 2 <F <F 1
The grip mechanism 8 acts so as to grip the working member 5 when.
【００２８】以上説明したように、本実施例によれば、
作業領域への挿入経路が狭小かつ長いものであっても、
導入装置を作業領域から外すことなく作業部材の交換を
可能とするグリップ機構が得られる。As described above, according to this embodiment,
Even if the insertion path to the work area is narrow and long,
A grip mechanism is provided that allows the replacement of the working member without removing the introduction device from the working area.
【００２９】また、グリップ機構が導入装置の作業領域
側に設けられているので、作業部材を作業時においても
安定して固定することができ、このため高精度の作業を
行なうことが可能なグリップ機構が得られる。Further, since the grip mechanism is provided on the work area side of the introduction device, the work member can be stably fixed even at the time of work, so that the grip can perform high-precision work. A mechanism is obtained.
【００３０】［実施例２］本発明の第２の実施例に係る
グリップ機構を、図８ないし図１０を参照して説明す
る。[Embodiment 2] A grip mechanism according to a second embodiment of the present invention will be described with reference to FIGS.
【００３１】本実施例は、アクチュエータ部材として形
状記憶合金リングと、形状記憶合金リングを加熱する発
熱線とを交互に配置して巻く構成としたものである。こ
こで、形状記憶合金とは、変形させても熱を加えること
で変形前の元の形状に戻る合金である。In this embodiment, a shape memory alloy ring and a heating wire for heating the shape memory alloy ring are alternately arranged and wound as an actuator member. Here, the shape memory alloy is an alloy that returns to its original shape before deformation by applying heat even when deformed.
【００３２】図８において、グリップ機構１２は、切り
欠きを有する形状記憶合金リング１３と発熱線１４とは
交互に配置して巻く構成になっている。また、両者の間
隔は形状記憶合金リング１３の動作を発熱線１４が妨げ
ないように考慮されている。また、図示していないが、
バネ部材９を導入装置１の管状部材２に固定して支持す
る構造は、実施例１に示すものと同様のものである。In FIG. 8, the grip mechanism 12 is configured such that a shape memory alloy ring 13 having a notch and a heating wire 14 are alternately wound. The distance between them is designed so that the heating wire 14 does not hinder the operation of the shape memory alloy ring 13. Although not shown,
The structure for fixing and supporting the spring member 9 to the tubular member 2 of the introduction device 1 is the same as that shown in the first embodiment.
【００３３】図９は把持状態の縦断面図、図１０は把持
を解放した状態の縦断面図である。FIG. 9 is a vertical cross-sectional view showing a gripping state, and FIG. 10 is a vertical cross-sectional view showing a state where the grip is released.
【００３４】グリップ機構１２の駆動は、導線１１を介
して発熱線１４に通電することで形状記憶合金リング１
３へ熱を与え、その温度を形状回復温度以上にすること
で行われる。形状回復温度は作業領域の周囲温度に基づ
いて決められる。形状記憶合金リング１３の形状は円形
で、その内径は微小作業部材５の外径より大きく記憶さ
せる。バネ部材９の形状は同じく円形で、その内径は微
小作業部材５の外径と形状記憶合金１３との肉厚を加え
たものより小さく、またその外径は管状部材２の内径よ
り小さく製作することは実施例１と同様である。バネ部
材９及び形状記憶合金リング１３の寸法は、実施例１と
同様に各部材の発生力を考慮して決定する。The gripping mechanism 12 is driven by energizing the heating wire 14 through the conducting wire 11 so that the shape memory alloy ring 1 is turned on.
The heat treatment is performed by applying heat to 3 and making the temperature equal to or higher than the shape recovery temperature. The shape recovery temperature is determined based on the ambient temperature of the work area. The shape memory alloy ring 13 has a circular shape, and its inner diameter is larger than the outer diameter of the micro working member 5. The shape of the spring member 9 is also circular, and its inner diameter is smaller than the sum of the outer diameter of the micro working member 5 and the thickness of the shape memory alloy 13, and its outer diameter is smaller than the inner diameter of the tubular member 2. This is the same as in the first embodiment. The dimensions of the spring member 9 and the shape memory alloy ring 13 are determined in consideration of the generated force of each member as in the first embodiment.
【００３５】ここで、グリップ機構１２を内径１．８
［ｍｍ］の導入装置３に組み込み、外径１．０［ｍｍ］
の微小作業部材５を把持する時の一例を示す。バネ部材
９を肉厚０．０５［ｍｍ］、内径１．２［ｍｍ］、外径
１．３［ｍｍ］、長さ１．１［ｍｍ］で製作する。ま
た、形状記憶合金リング１３は、線径０．１５［ｍｍ］
とし、内径１．３［ｍｍ］、外径１．６［ｍｍ］で形状
記憶させたものを４箇製作する。微小作業部材５の外径
は１．０［ｍｍ］であるから、把持時の形状記憶合金リ
ング１３の内径は１．０［ｍｍ］、外径は１．３［ｍ
ｍ］となり、バネ部材９の内径は同じく１．３［ｍ
ｍ］、外径は１．６［ｍｍ］となる。Here, the grip mechanism 12 has an inner diameter of 1.8.
[Mm] is incorporated into the introduction device 3 and the outer diameter is 1.0 [mm].
An example when gripping the micro working member 5 of FIG. The spring member 9 is manufactured with a thickness of 0.05 [mm], an inner diameter of 1.2 [mm], an outer diameter of 1.3 [mm], and a length of 1.1 [mm]. The shape memory alloy ring 13 has a wire diameter of 0.15 [mm].
Then, four pieces having a shape memory with an inner diameter of 1.3 [mm] and an outer diameter of 1.6 [mm] are manufactured. Since the outer diameter of the micro working member 5 is 1.0 [mm], the inner diameter of the shape memory alloy ring 13 when gripping is 1.0 [mm] and the outer diameter is 1.3 [m].
m], and the inner diameter of the spring member 9 is also 1.3 [m
m] and the outer diameter is 1.6 [mm].
【００３６】バネ部材９としてＳＵＳ３０４を用いる
と、その応力は上記式（１）よりＥ＝１９×１０3［ｋ
ｇｆ／ｍｍ2］として、σ＝５６．２［ｋｇｆ／ｍｍ2］
となる。形状記憶合金リング１３と接する面における発
生力Ｆは、σにその部分の面積を乗じて求まり、Ｆ＝２
３２［ｋｇｆ］となる。形状記憶合金リング１３の応力
も同様にして求まる。形状回復温度以下の時、Ｅ＝３×
１０3［ｋｇｆ／ｍｍ2］として、σ＝７９．９［ｋｇｆ
／ｍｍ2］となり、バネ部材９と接する面における発生
力はＦ2＝１８０［ｋｇｆ］となる。When SUS304 is used as the spring member 9, the stress becomes E = 19 × 10 3 [k
gf / mm 2 ], σ = 56.2 [kgf / mm 2 ]
Becomes The generated force F on the surface in contact with the shape memory alloy ring 13 is obtained by multiplying σ by the area of the portion, and F = 2
It becomes 32 [kgf]. The stress of the shape memory alloy ring 13 is similarly obtained. When the temperature is below the shape recovery temperature, E = 3 ×
As 10 3 [kgf / mm 2] , σ = 79.9 [kgf
/ Mm 2 ], and the generated force on the surface in contact with the spring member 9 is F 2 = 180 [kgf].
【００３７】一方、形状回復温度以上の時、Ｅ＝６×１
０3［ｋｇｆ／ｍｍ2］として、σ＝１５９．８となり、
バネ部材９と接する面における発生力はＦ1＝３６０
［ｋｇｆ］となる。したがって、Ｆ2＜Ｆ＜Ｆ1となり、
非通電時すなわち形状回復温度以下の時はバネ部材９の
発生力が形状記憶合金リング１３の発生力を上回るので
微小作業部材５は把持され、通電時すなわち形状回復温
度以上の時は逆に形状記憶合金リング１３の発生力がバ
ネ部材９の発生力を上回るので微小作業部材５は解放さ
れる。On the other hand, when the temperature is equal to or higher than the shape recovery temperature, E = 6 × 1
Assuming that 0 3 [kgf / mm 2 ], σ = 159.8,
The generated force on the surface in contact with the spring member 9 is F 1 = 360
[Kgf]. Therefore, F 2 <F <F 1 , and
When the power is not supplied, that is, when the temperature is lower than the shape recovery temperature, the force generated by the spring member 9 exceeds the power generated by the shape memory alloy ring 13, so that the micro working member 5 is gripped. Since the force generated by the memory alloy ring 13 exceeds the force generated by the spring member 9, the micro working member 5 is released.
【００３８】発熱線１４の線径は形状記憶合金リング１
３の線径より細くし、螺旋形状にした発熱線１４の外径
はバネ部材９の内径と同じくすることで、発熱線１４が
把持動作の妨げにならないように考慮する。The diameter of the heating wire 14 is the shape memory alloy ring 1
By making the outer diameter of the spiral heating wire 14 smaller than the wire diameter of No. 3 and the inner diameter of the spring member 9, consideration is given so that the heating wire 14 does not hinder the gripping operation.
【００３９】以上説明したように、本実施例によれば、
実施例１と同様の効果が得られる。As described above, according to the present embodiment,
The same effects as in the first embodiment can be obtained.
【００４０】[0040]
【発明の効果】以上説明したように、本発明によれば、
作業領域への挿入経路が狭小かつ長いものであっても、
導入装置を作業領域から外すことなく作業部材の交換を
可能とするグリップ機構を提供することができる。As described above, according to the present invention,
Even if the insertion path to the work area is narrow and long,
It is possible to provide a grip mechanism capable of replacing a work member without removing the introduction device from the work area.
【００４１】また、グリップ機構が導入装置の作業領域
側に設けられているので、作業部材を作業時においても
安定して固定することができ、このため高精度の作業を
行なうことが可能なグリップ機構を提供することができ
る。Further, since the grip mechanism is provided on the work area side of the introduction device, the work member can be stably fixed even at the time of work, so that the grip can perform high-precision work. A mechanism can be provided.
【図面の簡単な説明】[Brief description of the drawings]
【図１】本発明に係るグリップ機構を備える作業部材及
び導入装置の説明図である。FIG. 1 is an explanatory diagram of a working member including a grip mechanism according to the present invention and an introduction device.
【図２】本発明に係るグリップ機構の第１の実施例の、
把持状態を示す図である。FIG. 2 shows a first embodiment of a grip mechanism according to the present invention;
It is a figure showing a grasping state.
【図３】図２のグリップ機構の解放状態を示す図であ
る。FIG. 3 is a view showing a released state of the grip mechanism of FIG. 2;
【図４】グリップ機構の把持部分の横断面図であ。FIG. 4 is a cross-sectional view of a grip portion of the grip mechanism.
【図５】バネ部材とアクチュエータ部材とを取り出して
示す図である。FIG. 5 is a view showing a spring member and an actuator member taken out therefrom.
【図６】バネ部材及びアクチュエータ部材の把持及び解
放時の力の発生状況を説明する図である。FIG. 6 is a diagram illustrating a state of generation of a force when gripping and releasing a spring member and an actuator member.
【図７】バネ部材及びアクチュエータ部材の寸法関係図
である。FIG. 7 is a dimensional relationship diagram of a spring member and an actuator member.
【図８】本発明に係るグリップ機構の第２の実施例の外
観図である。FIG. 8 is an external view of a grip mechanism according to a second embodiment of the present invention.
【図９】図８の実施例の、把持状態を示す縦断面図であ
る。FIG. 9 is a longitudinal sectional view showing a gripping state of the embodiment of FIG. 8;
【図１０】図８の実施例の、解放状態を示す縦断面図で
ある。FIG. 10 is a longitudinal sectional view showing the released state of the embodiment of FIG. 8;
【符号の説明】 １…導入装置 ２…管状部材 ３…障害物 ４…経路 ５…微小な作業部材 ６…作業対象物 ７…術具 ８，１２…グリップ機構 ９…バネ部材 １０…アクチュエータ部材 １１…導線 １３…形状記憶合金リング １４…発熱線[Description of Signs] 1 ... Introduction device 2 ... Tube member 3 ... Obstructor 4 ... Path 5 ... Small work member 6 ... Work object 7 ... Surgical tool 8,12 ... Grip mechanism 9 ... Spring member 10 ... Actuator member 11 ... Lead wire 13 ... Shape memory alloy ring 14 ... Heating wire
フロントページの続き (72)発明者 西澤 幸司 茨城県土浦市神立町502番地 株式会社日 立製作所機械研究所内 Ｆターム(参考） 3F060 AA02 GA11 GA18 GB01 HA23 4C060 GG02 GG22 GG40 MM24 Continued on the front page (72) Inventor Koji Nishizawa 502 Kandachi-cho, Tsuchiura-shi, Ibaraki F-term in Machine Research Laboratory, Hitachi, Ltd. F-term (reference) 3F060 AA02 GA11 GA18 GB01 HA23 4C060 GG02 GG22 GG40 MM24
Claims (5)
される作業部材を、この作業部材を作業領域まで導入す
る導入装置に固定するために把持するグリップ機構にお
いて、 前記導入装置の作業領域側の管状部材の内部にあって常
時内径を小さくする方向にバネ力を発生するバネ部材
と、 このバネ部材を前記導入装置の作業領域側管状部材の内
部の所定位置に固定して支持する固定支持手段と、 このバネ部材の内側にあって前記作業部材を把持及び解
放するアクチュエータ部材とを有し、 このアクチュエータ部材は、前記バネ部材から常時内径
を小さくする方向にバネ力を受け、通電もしくは加熱に
よりバネ部材のバネ力に抗して内径を大きくする方向に
力を発生して作業部材を解放し、通電もしくは加熱の停
止により前記バネ部材からバネ力を受けて作業部材を把
持するものであることを特徴とするグリップ機構。1. A grip mechanism for gripping a working member having a distal end on which a surgical instrument for treating a work target is mounted for fixing the working member to an introducing device for introducing the working member to a working area, A spring member that is always inside the tubular member on the side of the region and generates a spring force in a direction to reduce the inner diameter; and the spring member is fixedly supported at a predetermined position inside the tubular member on the working region side of the introduction device. Fixed support means; and an actuator member inside the spring member for gripping and releasing the working member. The actuator member receives a spring force from the spring member in a direction to reduce the inner diameter at all times. Alternatively, the working member is released by heating in the direction of increasing the inner diameter against the spring force of the spring member to release the working member, and the spring is released from the spring member by stopping power supply or heating. Gripping mechanism, characterized in that gripping the working member under force.
業領域側管状部材の内部に凹部を形成し、この凹部にバ
ネ部材に形成した凸部を嵌合してなることを特徴とする
請求項１に記載のグリップ機構。2. The fixing and supporting means according to claim 1, wherein a recess is formed inside the tubular member on the working area side of the introduction device, and a protrusion formed on a spring member is fitted into the recess. Item 2. The grip mechanism according to Item 1.
を特徴とする請求項１に記載のグリップ機構。3. The grip mechanism according to claim 1, wherein the spring member has a notch.
有する形状記憶合金リングと、この形状記憶合金リング
を加熱する発熱線とを作業部材の外周に交互に配置して
なることを特徴とする請求項１に記載のグリップ機構。4. The actuator member according to claim 1, wherein a shape memory alloy ring having a notch and a heating wire for heating the shape memory alloy ring are alternately arranged on the outer periphery of the working member. 2. The grip mechanism according to 1.
される作業部材を、この作業部材を作業領域まで導入す
る導入装置に固定するために把持するグリップ機構にお
いて、 前記導入装置の作業領域側の管状部材の内部にあって常
時内径を小さくする方向にバネ力を発生するバネ部材
と、 前記導入装置の作業領域側管状部材の内部に凹部を形成
し、この凹部にバネ部材に形成した凸部を嵌合し、 このバネ部材の内側にあって前記作業部材を把持及び解
放する切り欠きを有するアクチュエータ部材とを有し、 このアクチュエータ部材は、前記バネ部材から常時内径
を小さくする方向にバネ力を受け、通電もしくは加熱に
よりバネ部材のバネ力に抗して内径を大きくする方向に
力を発生して作業部材を解放し、通電もしくは加熱の停
止により前記バネ部材からバネ力を受けて作業部材を把
持するものであることを特徴とするグリップ機構。5. A grip mechanism for gripping a working member having a distal end on which a surgical instrument for treating a work target is mounted for fixing the working member to an introducing device for introducing the working member to a work area, A spring member inside the region-side tubular member and constantly generating a spring force in a direction to reduce the inner diameter; An actuator member inside the spring member, the actuator member having a notch for gripping and releasing the working member. The actuator member has a direction in which the inner diameter is constantly reduced from the spring member. The work member is released by receiving a spring force in the direction of increasing the inner diameter against the spring force of the spring member by energizing or heating, and releasing the working member. Gripping mechanism, characterized in that gripping the working member receives a spring force from the spring member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11327970A JP3102563B1 (en) | 1999-11-18 | 1999-11-18 | Grip mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11327970A JP3102563B1 (en) | 1999-11-18 | 1999-11-18 | Grip mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP3102563B1 JP3102563B1 (en) | 2000-10-23 |
| JP2001138297A true JP2001138297A (en) | 2001-05-22 |
Family
ID=18205055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11327970A Expired - Lifetime JP3102563B1 (en) | 1999-11-18 | 1999-11-18 | Grip mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3102563B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101008158B1 (en) | 2008-04-30 | 2011-01-13 | 주식회사 포스코 | Apparatus for Gripping Stick Member |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11083493B2 (en) * | 2016-03-31 | 2021-08-10 | Tohoku University | Mechanism for holding elongate medical apparatus |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06235376A (en) * | 1993-02-08 | 1994-08-23 | Olympus Optical Co Ltd | Chemomechanical actuator |
| JPH098099A (en) * | 1995-06-23 | 1997-01-10 | Rohm Co Ltd | Chuck equipment |
| JPH09228012A (en) * | 1996-02-21 | 1997-09-02 | Furukawa Electric Co Ltd:The | Shape memory alloy leaf spring and its production |
-
1999
- 1999-11-18 JP JP11327970A patent/JP3102563B1/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06235376A (en) * | 1993-02-08 | 1994-08-23 | Olympus Optical Co Ltd | Chemomechanical actuator |
| JPH098099A (en) * | 1995-06-23 | 1997-01-10 | Rohm Co Ltd | Chuck equipment |
| JPH09228012A (en) * | 1996-02-21 | 1997-09-02 | Furukawa Electric Co Ltd:The | Shape memory alloy leaf spring and its production |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101008158B1 (en) | 2008-04-30 | 2011-01-13 | 주식회사 포스코 | Apparatus for Gripping Stick Member |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3102563B1 (en) | 2000-10-23 |
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