JP2006223872A - 流体移送制御式関節運動機構を有する外科用器械 - Google Patents
流体移送制御式関節運動機構を有する外科用器械 Download PDFInfo
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- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
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- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
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- A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
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- A—HUMAN NECESSITIES
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- A61B17/28—Surgical forceps
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D2600/00—Miscellaneous
- E02D2600/30—Miscellaneous comprising anchoring details
Abstract
【解決手段】内視鏡用途に特に適した外科用器械(10)は、近位側へ制御される流体移送式関節運動機構(14)を備えることにより、エンドエフェクタ(20)を関節運動させる。近位部分に取り付けられている流体制御装置(18)が、細長いシャフト(16)を通って流体を第1の流体通路経由で第1の流体アクチュエータ(80)に移送し、それに反応してこのアクチュエータは、関節運動継手を関節運動させる。2つの対向した流体アクチュエータが、差動的流体移送に反応して関節運動を行わせるようにもできる。それにより、細長いシャフトの狭い範囲を通って関節運動を行わせるのに十分な機械的運動を伝達するという設計上の制約を無くすことによって設計上の融通性が達成される。
【選択図】図1
Description
本発明は一般に、内視鏡下でエンドエフェクタ(例えば、体内カッタ、把持器、カッタ、ステープラ、クリップ留め具、接近用器具、薬物/遺伝子治療送達器具および超音波、RF、レーザ等を利用したエネルギー器具)を手術部位に挿入するのに適した外科用器械、特に、関節運動シャフトを備えたかかる外科用器械に関する。
内視鏡下外科用器械は、切開部が小さいほうが術後回復期間および合併症を減少させる傾向があるので、伝統的な開放式外科用器具よりも好ましい場合が多い。したがって、トロカールのカニューレを通って遠位エンドエフェクタを所望の手術部位に正確に配置するのに適した内視鏡下外科用器械類の大々的な開発が行われた。これら遠位エンドエフェクタは、診断効果または治療効果を達成するのに多くの仕方で組織に係合する。(例えば、体内カッタ、把持器、カッタ、ステープラ、クリップ留め具、接近用器具、薬物/遺伝子治療送達器具および超音波、RF、レーザ等を利用したエネルギー器具)
本発明は、取っ手と、関節運動を行わせるために流体圧力を用いたエンドエフェクタとの間に取り付けられている関節運動シャフトを備えた外科用器械を提供することにより先行技術の上述の問題および他の問題を解決する。
関節運動シャフトの概要
図面を参照すると(幾つかの図にわたり、同一の符号は同一の部品を示している)、図1は、外科用器械を示しており、この外科用器械は、図示の形態では、本発明の独特の利点をもたらすことができる特に外科用ステープル留め兼用切断器械10である。特に、外科用ステープル留め兼用切断器械10は、外科手技を実施するために図1に示すような非関節運動状態でトロカールカニューレ通路を通って患者(図示せず)の体内の手術部位まで挿入可能に寸法決めされている。作業部分12をいったんカニューレ通路中へ挿入すると、作業部分12の細長いシャフト16の遠位部分内に組み込まれた関節運動機構14を図2に示すように関節運動制御装置18によって遠隔的に関節運動させることができる。図示の形態では、ステープル留め組立体20として示されたエンドエフェクタが、関節運動機構14の遠位側に取り付けられている。かくして、関節運動機構14を遠隔的に関節運動させることにより、ステープル留め組立体20は、細長いシャフト16の長手方向軸線から関節運動する。かかる傾斜位置は、切断およびステープル留めのために所望の角度から組織に接近し、或いは他の臓器および組織により遮られた組織に接近すると共に(或いは)配置状態を確認するために内視鏡をステープル留め組立体20の後ろに位置決めしてこれと整列させることができるという点において有利な場合がある。
外科用ステープル留め兼用切断器械10は、作業部分12の近位側に連結されていて、位置決め運動、関節運動、閉鎖運動および発火運動をこの作業部分にもたらす取っ手部分22を有している。取っ手部分22は、ピストル型握り24を有し、ステープル留め組立体20のクランプまたは閉鎖を生じさせるよう臨床医によってクロージャトリガ26をこの握り24に向かって軸を中心に回転し、且つ近位側へ引き寄せられる。発火トリガ28が、クロージャトリガ26の一段と外側に位置し、この発火トリガは、ステープル留め組立体20内にクランプされたクランプ状態の組織のステープル留めおよび切断を生じさせるよう臨床医によって軸を中心に回転するように引かれる。しかる後、クロージャ解除ボタン30を押してクランプ状態のクロージャトリガ26を解除し、かくしてクランプされた状態の組織の切断およびステープル留め端部を解除する。取っ手部分22は回転ノブ32をさらに有し、この回転ノブ32は、細長いシャフト16と一緒に運動できるよう結合されて、シャフト16およびステープル留め組立体20をシャフト16の長手方向軸線回りに回転させる。取っ手部分22は、もし万が一つかえが生じた場合発火機構(図1または図2には図示せず)を引き戻すのを助け、ステープル留め組立体20の開放がその後に生じることができるようにする発火引き戻し取っ手34を更に有する。
図3〜図5では、作業部分12は有利に、内視鏡下および腹腔鏡下手技に適した小径内で長手方向運動、回転運動、関節運動、閉鎖運動および発火運動の多数の作動運動を含む。ステープル留め組立体20(「エンドエフェクタ」)は、軸を中心に回転可能に取り付けられたアンビル42(図1、図2、図4および図5)を備えた細長いチャネル40として示されている軸を中心に回転可能に取り付けられた対向した一対のジョーを有する。アンビル42を閉鎖して細長いチャネル40にクランプすることは、フレーム組立体44(図3)が取っ手部分22に回転自在に取り付けられた状態で細長いチャネル40を長手方向に支持することによって達成され、二重旋回クロージャスリーブ組立体46は、このフレーム組立体44上で、長手方向に動いて、ステープル留め組立体20が図2に示すように関節運動していても、それぞれ遠位および近位運動のための閉鎖および開放作用をアンビル42に与える。
図4および図5を参照すると、発火バー66は、E−ビーム165の遠位側で終端しており、このE−ビームは、アンビル42に設けられたアンビルスロット168に入ってアンビル42を確認してこれをステープル配列および切断中、閉鎖状態に維持するのを助ける上側案内ピン166を有している。細長いチャネル40とアンビル42との間の間隔は、中間ピン170を細長いチャネル40の頂面に沿って摺動させる一方で、底部足部172が細長いチャネル40に設けられた長手方向開口部174によって案内された状態で細長いチャネル40の下面に沿ってこれに対向して摺動することによりE−ビーム164によって更に維持される。上側案内ピン166と中間ピン170との間に位置するE−ビーム164の遠位側に設けられた切断面176は、クランプされた状態の組織を切断し、他方、E−ビームは、くさび形そり180を遠位側に移動させ、それによりステープルドライバ182が、上方に駆動するステープル184をカム駆動してこれをステープルカートリッジ本体188に設けられている上方に開口したステープル穴186から出してアンビル42のステープル配列下面190に押し付けて配列することにより交換可能なステープルカートリッジ178を作動させる。ステープルカートリッジトレイ192が、ステープルカートリッジ178の他の部品を底部から包囲してこれらを定位置に保持する。ステープルカートリッジトレイ192は、細長いチャネル40の長手方向開口部174の上に位置する後方に開口したスロット194を有し、かくして、中間ピン170が、ステープルカートリッジトレイ192の内部を通る。
図3、図4および図6〜図8では、関節運動ロック機構200が、有利に、ステープル留め組立体20を所望の関節角度に維持するよう構成されている。関節運動ロック機構200は、左側作動ブラダ100および右側作動ブラダ102に加わる荷重を減少させる。特に、圧縮ばね202(図3)が、関節運動ロック部材111の近位端204と取っ手部分22との間に近位側に位置決めされていて、関節運動ロック部材111を遠位側に付勢している。特に図4を参照すると、関節運動ロック部材111の遠位端210のところに設けられた2つの平行なスロット206,208が、フレームグラウンド48に設けられた上方に突き出ている案内リブ212,214をそれぞれ受け入れる。案内リブ212,214は、平行なスロット206,208よりも長手方向に短く、或る範囲の相対的な長手方向移動を可能にしている。それにより、特に図8を参照すると、関節運動ロック部材111から遠位側に突き出た歯付き凹部216として示されている遠位摩擦面の選択的な当接係合は、関節運動フレーム部材114の頂部近位凹部220内に受け入れられたブレーキ板218に設けられている対応のロック歯車セグメント217に連係している。ブレーキ板218に設けられた遠位穴221および近位穴222は、頂部近位凹部220から上方に突き出た遠位ピン223および近位ピン224を受け入れる。
は、常態ではロック解除されており、後方加重(back loading)に起因して側方運動T−バー2006を起動することにより作動される。T−バー2006から下方に延びるリブ2012を受け入れてこれを案内するスロット2008が、フレームグラウンド2010に設けられている。リブ2012に直角に取り付けられた細長い長手方向部分2014が、エンドエフェクタ2016に後方加重した場合には撓む。例えば、エンドエフェクタ2016を矢印2018で示すように右側に押しやると、例えば、その近位歯車セグメント2020が、T−バー2006のラック2022に作用して矢印2024で示すように非直交後方駆動力を与える。かくして、細長い長手方向部分2014は、長手スロット2008内のリブ2012を起動する。この起動により、矢印2026,2028で示すように互いに逆向きの拘束力が生じ、これら拘束力は、T−バー2006をロックし、それ以上の関節運動を阻止する。ロック解除は、関節運動ブラダの作動により側方に運動するT−バー2006の起動が解除されたときに生じる。しかる後、リブ2016は、T−バー2006を案内するのを助けることができる。
図3、図4および図7を参照すると、作業部分12は有利に、単一ピボットフレームグラウンド48上に長手方向に並進してこれを包囲する二重ピボットクロージャスリーブ組立体46を有する。これら機構およびこれらの作用について以下に詳細に説明する。特に図7を参照すると、関節運動機構14は、クロージャスリーブ組立体46がアンビル開放状態に向かって近位側に引っ込められた状態の関節運動状態で示されている。アンビル42が開放した状態で、関節運動制御装置18を作動させると、関節クロージャリング116が、上側および下側二重ピボットクロージャリンク134,140のそれぞれの上方に差し向けられた遠位ピン136および下方に差し向けられた遠位ピン142回りに旋回する。フレームグラウンド48は、フレームグラウンド48を遠位フレーム部材114に接合する近位ピン157として示された単一のピン回りに旋回する。アンビル42が開放した状態では、フレームグラウンド48の近位ピン147は、クロージャスリーブ組立体46の上側および下側二重ピボットリンク134,140の最も遠位側の位置と整列する。この位置決めにより、アンビル42が開いた状態で、ステープル留め組立体20の容易な旋回および回転が可能である。クロージャスリーブ組立体46を遠位側へ移動させてアンビル42を軸を中心に回転させてこれを閉鎖すると、真っ直ぐなクロージャ管52は、フレームグラウンド48回りに遠位側に動き、関節クロージャリング116は、ピボットリンク134,140により押圧されると、関節遠位フレーム部材114の軸線に沿って遠位側へ動く。リンク134,140のそれぞれの二重旋回ピン136,138および142,144は、器具を関節運動させたときに(図示せず)これらが遠位閉鎖位置に向かって押圧されると、真っ直ぐなクロージャ管52および関節クロージャリング116との係合を容易にする。遠位閉鎖位置では、フレームグラウンドピボットピン(「近位ピン」)147は、完全関節運動時に近位ピボットピン138,144と垂直方向に整列しまたは効果的に働いている状態で遠位ピン136,142と近位ピン138,144との間の任意の箇所に位置することができる。
図8では、図7の関節運動機構14は、部分的に分解され、下から見た状態で示され、従来型可撓性支持板と比べて利点をもたらす中実壁発火バー支持体設計(ドッグボーン形リンク160)を示している。支持板は、隙間を橋渡しし、発火バー66を単一フレームグラウンドピボット関節運動継手1801中を支持した状態で案内するために用いられる。可撓性発火バーは、公知であるが、例えば図4、図8および図9に示す中実壁発火バーを設けると、独特な利点が得られる。次に図8を参照すると、フレームグラウンド48は、フレームグランド48の底部に沿って延びるフレームナイフスロット1802を有し、遠位ナイフスロット164が、発火バー66(図示せず)を摺動自在に受け入れるために関節運動遠位フレーム部材114の底部に沿って延びている。上述したフレームグラウンド48は、遠位フレーム部材114との直接的な単一旋回連結部157を有する。ピンの近位端157に回転自在に連結され、ピンの遠位端159に可動的に連結された固定壁ドッグボーン形リンク160は、左側方ガイド1818および右側方ガイド1820を有し、これらガイド相互間には、発火バー66(図4)の摺動通過用の案内スロット1822が形成されている。
さらに図9を参照すると、フレームグラウンド1916に設けられた左および右上向きフランジ1918,1920が、T−バー1926に設けられた穴を側方に通過して関節運動機構1928のつかえを最小限に抑えるのを助ける遠位および近位側方ピンガイド1922,1924を有している。別の例として、図7において、T−バー104は有利に、鳩尾型側方ガイド1930を有し、この側方ガイドは、T−バーに形成された鳩尾型チャネル1932内で側方に摺動する。さらに別の例として、図12において、フレームグラウンド1936に設けられた隆起リブ1934が、T−バー1940に形成された矩形スロット1938内に受け入れられている。つかえを生じない側方並進を一段と容易にするため、遠位および近位側方支承軌道は各々、それぞれ複数の玉軸受1946,1948を有している。さらに別の例として、図13において、複数個のフレーム側方溝1950〜1954が、フレームグラウンド1956に形成され、これに対応したT−バー側方溝1958〜1962がT−バー1964に設けられている。摺動ローラ1966〜1970が、それぞれ対をなす側方溝1950/1958,1952/1960,1954/1962内に捕捉された状態で位置している。これらは、T−バー1940の望ましくない起動または回転を阻止する側方案内部材の全てではない。
図14および図15では、別のフレームグラウンドおよび閉鎖機構2200が、二重旋回フレーム組立体2204を有する外科用器械2202を有している。特に、フレームグラウンド2206は、二重旋回フレームドッグボーン2210により遠位フレーム部材2208に連結され、この二重旋回フレームドッグボーンは、フレームグラウンド2206に設けられた近位ボア2214に軸を中心に回転可能に係合する近位ピボットピン2212および遠位フレーム部材2208の遠位ボア2218に係合する遠位ピボットピン2216を有する。発火バー66(図14および図15には図示せず)を収納状態で案内する案内スロット2220が、ドッグボーン2210の下面に設けられている。ナイフスロット2222が、遠位フレーム部材2208に設けられている。図示のように、クロージャリング2230を45°の角度まで関節運動させることにより、遠位フレーム部材2208が45°の角度まで関節運動すると共にフレームドッグボーン2210がその角度の半分まで関節運動する。その結果、発火バー66は、互いに間隔を置いた2つの浅い半分の曲げを受け、上述した利点の全てを有する。
図16〜図19では、側方運動が用いられてエンドエフェクタ232の関節運動を行わせている状態を示すよう側方運動関節運動機構230が概略的に示されている。側方運動は、外科用器具234の長手方向軸線に向かうまたはこれから遠ざかる少なくとも1つの要素の運動である。この運動は一般に、機構230を2等分する水平線である長手方向軸線に対して直角であり、回転運動または長手方向運動を含まない。側方運動関節運動機構は、図16〜図19に示すように流体の作用で作動されるものであってもよく、或いは、図20〜図23に示すように機械的に作動されるものであってもよい。
側方運動関節運動機構230は、図16〜図19に概略的に示されており、この関節運動機構は、流体制御システム235を有し、この流体制御システムは、この中で長手方向に延びる流体で満たされた互いに平行な左流体ブラダ236および右流体ブラダ238を有し、これら流体ブラダは、流体242の運動により側方部材またはT−バー240を側方に移動させる。全ての方向は、長手方向軸線を基準としている。図16および図17の非関節運動図を参照すると、遠位側に設けられたエンドエフェクタ232は、ピン244を中心として旋回し、このエンドエフェクタは、近位端に歯車セグメント246を有している。ピボットピン244が、フレーム(図示せず)に取り付けられている。T−バー240の遠位端のところに設けられたラック248が、歯車セグメント246に作動可能に係合する。T−バー240およびラック248は、軸線A−Aに沿って側方に動くことができる。長い左および右流体ブラダ236,238の遠位部分は、側方に動くことができるT−バー240の側方に位置し、この遠位部分は、クロージャスリーブ250内に側方に拘束されると共にフレーム252によって垂直方向下方に拘束され、またスペーサ254によって垂直方向上方に拘束される。左側作動流体ブラダ236は、流体242で満たされていて、この流体ブラダは、左側遠位作動ブラダ256、左側流体通路258および左側近位リザーバブラダ260を有している。右側流体ブラダ238は、流体242を収容しており、この右側流体ブラダは、右側遠位作動ブラダ262、右側流体通路264および右側近位リザーバブラダ268を有している。固定仕切り270がフレーム252から延出し、ブラダ260,268と流体通路258,264を分離している。固定仕切り270およびクロージャスリーブ250は、流体通路258,264を拘束し、ブラダ236,238の流体通路部分258,264の拡張を阻止する。近位リザーバブラダ260,268のうちの一方の圧縮およびエンドエフェクタ232の関節運動のための側方に動くことができる“C”字形圧縮部材272が、関節運動制御機構230に設けられている。加うるに、他の部品、例えばフレーム252に設けられた発火バースロット276を貫通した発火バー274を設けるのがよい(図17および図19)。
側方運動および関節運動を生じさせる流体機構を上述したが、機械的機構は、流体ブラダ206,208により得られるのとほぼ同じ側方運動を達成することができる。図20および図21では、変形例としての側方運動関節運動機構300が、外科用器械301のための側方運動および関節運動を生じさせる機械的制御システム、特に長手方向に運動する部材を用いている。図示の形態では、特に図20を参照すると、側方運動スライドバー302が、細長い長手方向シャフト308の互いに反対側の側部でこのスライドバーから側方に延びる少なくとも1対の傾斜した左側カム面304と右側カム面306を有している。図示の形態では、別の1対の近位左側および右側傾斜カム面310,312もまた設けられている。右側長手方向運動リンク314は、これに対応した内方に差し向けられている遠位および近位傾斜カウンタ面316,318を有し、これらカウンタ面は、遠位および近位右側カム面306,312と位置が合ってこれに摺動自在に係合して、運動リンク314の遠位側への長手方向運動がスライドバー302の左向き側方運動を引き起こすようになっている。理解されるべきこととして、この傾斜接触状態を逆にして遠位側への運動が右向きの運動を引き起こすようにしてもよい。
図22および図23において、更に変形例としての関節運動機構400が、外科用器械406の関節運動を生じさせるよう側方運動スライドバー404として示された側方部材を移動させる回転可能なリンク402を用いている。側方運動スライドバー404は、エンドエフェクタ(図示せず)の近位端のところで図16および図20に関して上述した回転歯車またはカム作用溝と作動可能に係合することができる。回転可能なリンク402を少なくとも一方のアーム408が長手方向軸線に対して回転自在に横方向にこのリンクから延びてスライドバー内のソケット410に嵌まり込んだ状態でスライドバー404の下に配置するのがよい。スライドバー404は、頂部スペーサ412と底部フレーム414との間で垂直方向に拘束され、底部フレームは、回転可能なリンク402を受け入れてアーム408の回転を許容する長手方向トラフ416を有している。スペーサ412およびフレーム414は、管状スリーブ418によって包囲されている。回転リンク402を回転させることにより、アーム408は、弧を描いて動き、それにより、スライドバー404が回転方向に動いて側方に移動する。
図24において、外科用器械500は、細長いシャフト504の長手方向軸線に沿って整列したスライド部材502を有し、この外科用器械は、左側座屈部材506と右側座屈部材508との間の側方運動を可能にし、フレームおよびスペーサ(図示せず)によって垂直方向に拘束されている。各座屈部材506,508は、それぞれの固定遠位取付け部510,512および長手方向に並進可能な近位リンク514,516を有している。それぞれの左側および右側可撓性部材518,520は、スライドバー502に対向して、これらのそれぞれの近位リンク514,516の遠位側への長手方向運動に関して側方侵入量で、内方に弓形に曲がる。図24に示す非関節運動状態では、近位リンク514,516は、差動的には位置決めされておらず、かくして、スライド部材502の遠位側に突き出た先端部522は、エンドエフェクタ528のピボットピン526に対して近位側に開口したV字形カム溝524内に心出しされる。図25では、左側近位リンク514は、遠位側に送り進められており、右側近位リンクは、近位側へ引っ込められており、スライドバー502は、右側に側方に並進し、それにより、遠位側に突き出た先端部522をカム駆動させてこれをV字形カム溝524の右側部分に押し付け、その結果、ピボットピン526回りのエンドエフェクタ528の左向き関節運動が生じる。
図26において、外科用器械600は、遠位側に連結されたエンドエフェクタ602を有し、このエンドエフェクタは、スライドバー608の側方運動により細長いシャフト606に対してそのピボットピン604回りに弧を描いて選択的に関節運動する。特に、スライドバー608の遠位ソケット610は、ピボットピン604の遠位側で開口したV字形カム溝612に係合する。スライドバー608は、フレームおよびスペーサ(図示せず)により細長いシャフト606内で垂直方向に拘束される。スライドバー608の互いに反対側の側方側部上で内方に差し向けられた左側および右側圧縮ばね614,616は、細長いシャフト606の遠位端部618の近位側に位置する。これらばね614,616は、スライドバー608およびかくしてエンドエフェクタ602に心出し付勢力をもたらす。スライドバー608の互いに反対側の側部に設けられた左側および右側電磁石620,622は、スライドバー608と一体のまたはこれに取り付けられた鉄製標的624を引き付け、それにより選択的に図27に示すようにスライドバー608を側方に変位させ、エンドエフェクタ602の関節運動を生じさせるよう選択的に作動される。単純化のため、長手方向に整列したコイルが示されている。ただし、1つ以上の電磁石を整列させてスライドバー608に垂直な磁界を生じさせてもよいことは理解されるべきであり、例えば、複数個のコイル(図示せず)をスライドバー608の長手方向長さ方向に沿って整列させ、各コイルは、スライドバー608の側方運動軸線と整列したその長手方向軸線を有する。
図28では、外科用器械700は、左側および右側の細長いピストン支持体704,706を利用した関節運動制御機構702を有し、これらピストン支持体は、エンドエフェクタ710のピボットピン708の各側に側方に取り付けられている。スプール弁712が、外科用器械700の近位部分(例えば、取っ手)714に設けられた弁フレーム715のボア713内に摺動自在に設けられていて、圧力源(例えば、アキュムレータ、ポンプ、定置または携帯可能な圧力源に通じるオリフィス)716を選択的に連通させる。スプール弁712の側方運動により、流体は、加圧媒体718からピストン支持体704,706のうち一方の中に流入することができる。圧力源716からの加圧媒体718が、流体または空気圧であるのがよい。例えば、スプール弁712は、病院用真空源を細長いピストン支持体704,706のうちの一方に選択的に連通させることができ、選択された側部を他方の側が大気圧にさらされたときに拡張しまたは違ったやり方で拡張すると、引き戻す。理解されるべきこととして、非圧縮性または圧縮性流体を用いることができる。さらに、細長いピストン支持体704,706の各々の中の並進物質は、圧力源716により作用を受ける近位動的スプールシールを更に有するのがよい。図29に示すように、細長いピストン支持体704,706の長手方向長さのそれぞれの増減は、細長い管内で摺動するピストンに起因するのがよく、または変形例として、円周方向に可撓性の物質の伸長に起因していてもよい。
図30では、ブラダ800は、流体通路または導管804を介してリザーバブラダ806と流体連通状態にある作動ブラダ802を有するよう示されている。この図示の形態では、圧縮ばね808が、作動ブラダ802を側方に付勢してこれを膨張状態にしている。圧縮ばね808を設けた場合の有利な特徴としては、ブラダ802を膨張させまたはエンドエフェクタ(図示せず)を心出しする復元力が得られることにあると共に他の利点が得られる。所望ならば、ばねを両方のブラダ802,806のうちいずれか一方または両方のブラダ802,806内に設けてもよい。
上述の側方流体機構は、関節運動を生じさせるのにブラダおよび側方運動を用いているが、次に、他の流体移送機構について説明する。これら流体移送機構は、流体を或る1つの場所から別の場所に移送して関節運動を行わせる本発明の多くの変形例としての機構を示している。
図52では、外科用器械2400は、エンドエフェクタ2406の近位側に差し向けられたチラー(tiller)2404を含むチラー関節運動機構2402を有し、かかるチラーは、チラーアーム2410を備えた垂直ピボットピン2408のところで細長いシャフト2412に旋回自在に係合し、このチラーアームは、流体移送関節運動システム2414に応答して細長いシャフト2412の内部で軸を中心に回転する。特に、左側および右側連続ブラダ2420,2422のそれぞれの左側および右側遠位側方作動部分2416,2418は、細長いシャフト2412のクロージャスリーブ2424内でチラーアーム2410のそれぞれの側に設けられている。左側および右側近位ブラダ部分2426,2428は、側方制御機構2430の一部である。特に、左側および右側圧縮部材2432,2434は、左側および右側近位ブラダ部分2426,2428を圧縮し、それぞれ流体を左側および右側遠位側方作動部分2416,2418に送り込む。図53では、右側圧縮部材2434は、内方に作動され、右側近位ブラダ部分2428を圧縮し、それにより右側遠位側方作動部分2418を拡張させている。それにより、チラーアーム2410は、側方に旋回して右側に動かされ、それによりエンドエフェクタ2406を右側に関節運動させている。加うるに、左側遠位側方作動部分2416が圧縮され、それにより左側近位ブラダ部分2426を圧縮させると共に左側圧縮部材2432を外方に動かしている。左側への関節運動は、これと逆の操作が必要である。
(1)外科用器械において、
患者の外部での操作が可能なように構成された近位部分と、
前記近位部分に取り付けられた細長いシャフトと、
エンドエフェクタと、
前記エンドエフェクタを前記細長いシャフトに取り付ける関節運動継手と、
前記近位部分に取り付けられていて、流体を、前記細長いシャフトを通り第1の流体通路を通って移送するよう動作可能に構成された流体制御装置と、
前記第1の流体通路と流体連通状態にあり、前記流体制御装置により移送された前記流体に反応して前記関節運動継手を作動させることができる第1の流体アクチュエータと、を有する、外科用器械。
(2)実施態様(1)記載の外科用器械において、
前記流体制御装置は、流体を、第2の流体通路を通って逆方向に移送するよう更に構成されており、前記外科用器械は、前記第2の流体通路と流体連通状態にあり、前記流体制御装置により移送された流体に反応して前記第1の流体アクチュエータを助けて前記関節運動継手を作動させる第2の流体アクチュエータを更に有する、外科用器械。
(3)実施態様(2)記載の外科用器械において、
前記細長いシャフト内で側方運動可能に拘束されたスライドバーと、
前記関節運動継手内に位置決めされた前記スライドバーの遠位端部と、
関節運動部材の遠位端部に係合し、前記スライドバーの側方運動を前記エンドエフェクタの旋回運動に変換する前記エンドエフェクタの近位表面と、を更に有し、
前記第1の流体アクチュエータは、前記細長いシャフト内の作動部材の第1の横方向側部に位置決めされた第1のブラダを有し、前記第2の流体アクチュエータは、前記細長いシャフト内の前記作動部材の反対側の第2の横方向側部に位置決めされた第2のブラダを有する、外科用器械。
(4)実施態様(3)記載の外科用器械において、
前記関節運動部材は、前記第1の流体通路および前記第2の流体通路とそれぞれ連通する第1の遠位シリンダおよび第2の遠位シリンダ内で側方に動く互いに反対側に突き出た第1の遠位ピストンと第2の遠位ピストンを含む近位部分を有する、外科用器械。
(5)実施態様(3)記載の外科用器械において、
前記流体制御装置は、
前記第1の流体通路と連通状態にある第1の流体リザーバと、
前記第2の流体通路と連通状態にある第2の流体リザーバと、
前記第1および第2の流体リザーバのうちの選択された一方を圧縮させ、かつ、前記第1および第2の流体リザーバのうちの選択されなかった他方を前記第2のブラダに加わる圧縮力に反応して拡張させることができるよう動作可能に構成された側方アクチュエータと、を有する、外科用器械。
(6)実施態様(5)記載の外科用器械において、
前記第1および第2の流体リザーバは、それぞれのピストンシリンダを有し、前記関節運動制御装置は、前記第1および第2のピストンシリンダ内に運動可能にそれぞれ受け入れられた第1および第2のピストンを有する、外科用器械。
(7)実施態様(5)記載の外科用器械において、
前記関節運動制御装置は、前記第1および第2の流体リザーバを差動的に圧縮する手段を有する、外科用器械。
(8)実施態様(3)記載の外科用器械において、
前記流体制御装置は、
前記第1の流体通路および前記第2の流体通路と連通状態にある流体リザーバと、
前記流体リザーバを第1のリザーバ部分および第2のリザーバ部分に分離する可動密封面と、
前記可動密封面を移動させて前記第1および第2のリザーバ部分の各々について流体容積を差動的に調節するよう動作可能に構成された側方アクチュエータと、を有する、外科用器械。
(9)実施態様(8)記載の外科用器械において、
前記側方アクチュエータは、前記第1および第2のリザーバ部分の各々について流体容積を差動的に調節する手段を有する、外科用器械。
(10)実施態様(3)記載の外科用器械において、
前記エンドエフェクタの前記近位表面は、歯車セグメントを有し、前記スライドバーの前記遠位端部は、歯車ラックを有する、外科用器械。
前記細長いシャフト内に設けられていて、選択的に遠位側に長手方向に並進して前記エンドエフェクタの前記歯車セグメントに係合して関節運動継手をロックするロック部材を更に有する、実施態様(10)記載の外科用器械。
(12)実施態様(11)記載の外科用器械において、
前記ロック部材は、遠位側に付勢され、前記ロック部材は、近位ピンを有し、前記関節運動制御装置は、歯付き表面を有し、前記歯付き表面は、作動中、前記近位ピンを近位側にカム駆動し、前記関節運動制御装置が停止すると、前記近位ピンが前記歯付き表面の対応の歯根元部内に遠位側へ動くことができるようにする、外科用器械。
(13)実施態様(2)記載の外科用器械において、
前記第1および第2の流体アクチュエータはそれぞれ、第1および第2の遠位ピストンを有し、該遠位ピストンは各々、前記遠位ピストンの旋回軸線周りに間隔を置いて位置する前記エンドエフェクタの互いに反対側の側部に係合する、外科用器械。
(14)実施態様(13)記載の外科用器械において、
前記関節運動制御装置は、前記第1および第2の流体通路のうちの選択された一方を加圧流体源に結合し、圧力を前記第1および第2の流体通路のうちの選択されなかった他方に逃がすよう動作可能に構成されたセレクター弁を有する、外科用器械。
(15)実施態様(13)記載の外科用器械において、
前記第1および第2の流体リザーバは、それぞれの近位ピストンシリンダを有し、前記関節運動制御装置は、前記第1および第2のピストンシリンダ内で運動自在に受け入れられたそれぞれの第1および第2の近位ピストン、および前記第1および第2の近位ピストンを差動的に動かすよう位置決めされた回転制御アクチュエータを有する、外科用器械。
(16)実施態様(2)記載の外科用器械において、
前記関節運動継手は、チラーアームを提供するよう前記エンドエフェクタから近位側へ突き出ていて、前記細長いシャフト内に軸を中心に回転可能に受け入れられ、前記細長いシャフト内を延びるチラーを有し、前記第1の流体アクチュエータは、前記細長いシャフト内のチラーアームの第1の横方向側部に位置決めされた第1のブラダを有し、前記第2の流体アクチュエータは、前記細長いシャフト内の前記チラーアームの反対側の第2の横方向側部に位置決めされた第2のブラダを有する、外科用器械。
患者の外部での操作が可能なように構成された近位部分と、
前記近位部分に取り付けられた細長いシャフトであって、当該細長いシャフトの近位部分を貫通して第1および第2の流体通路が設けられたシャフトと、
エンドエフェクタと、
前記エンドエフェクタを前記細長いシャフトに取り付ける関節運動継手と、
前記近位部分に取り付けられていて、流体を、前記第1および第2の流体通路を通り前記細長いシャフトを通って差動的に移送させるよう動作可能に構成された流体制御装置と、
前記第1の流体通路と流体連通状態にある第1の流体アクチュエータと、
前記第2の流体通路と流体連通状態にある第2の流体アクチュエータと、を有し、
前記第1の流体アクチュエータと前記第2の流体アクチュエータは協働して、流体の前記差動的移送に反応して前記関節運動継手を作動させる、外科用器械。
(18)実施態様(17)記載の外科用器械において、
前記流体は、非圧縮性である、外科用器械。
(19)実施態様(17)記載の外科用器械において、
前記流体は、圧縮性である、外科用器械。
患者の外部で操作可能に構成された近位部分と、
前記近位部分に取り付けられた細長いシャフトと、
エンドエフェクタと、
前記エンドエフェクタを前記細長いシャフトに取り付ける関節運動継手と、
流体を、二方向で前記細長いシャフトを通して移送する流体制御手段と、
前記細長いシャフトからの前記移送流体に反応して前記関節運動継手を関節運動させる流体作動手段と、を有する、外科用器械。
12 作業部分
14,230,300,400,2002 関節運動機構
16 細長いシャフト
18 関節運動制御装置
20 ステープル留め組立体またはエンドエフェクタ
22 取っ手部分
24 ピストル型握り
26 クロージャトリガ
28 発火トリガ
30 クロージャ解除ボタン
46 クロージャスリーブ組立体
44 フレーム組立体
80 関節運動アクチュエータ
94 流体関節運動システム
116 関節クロージャ管
178 交換可能なステープルカートリッジ
200,2000 関節運動ロック機構
500,600,700,900,1000,1100,1200,1300,1400,1500,1600,1700,1900,2004 外科用器械
1801 関節運動継手
Claims (11)
- 外科用器械において、
患者の外部での操作が可能なように構成された近位部分と、
前記近位部分に取り付けられた細長いシャフトと、
エンドエフェクタと、
前記エンドエフェクタを前記細長いシャフトに取り付ける関節運動継手と、
前記近位部分に取り付けられていて、流体を、前記細長いシャフトを通り第1の流体通路を通って移送するよう動作可能に構成された流体制御装置と、
前記第1の流体通路と流体連通状態にあり、前記流体制御装置により移送された前記流体に反応して前記関節運動継手を作動させることができる第1の流体アクチュエータと、
を有する、外科用器械。 - 請求項1記載の外科用器械において、
前記流体制御装置は、流体を、第2の流体通路を通って逆方向に移送するよう更に構成されており、
前記外科用器械は、前記第2の流体通路と流体連通状態にあり、前記流体制御装置により移送された流体に反応して前記第1の流体アクチュエータを助けて前記関節運動継手を作動させる第2の流体アクチュエータを更に有する、外科用器械。 - 請求項2記載の外科用器械において、
前記細長いシャフト内で側方運動可能に拘束されたスライドバーと、
前記関節運動継手内に位置決めされた前記スライドバーの遠位端部と、
関節運動部材の遠位端部に係合し、前記スライドバーの側方運動を前記エンドエフェクタの旋回運動に変換する前記エンドエフェクタの近位表面と、を更に有し、
前記第1の流体アクチュエータは、前記細長いシャフト内の作動部材の第1の横方向側部に位置決めされた第1のブラダを有し、前記第2の流体アクチュエータは、前記細長いシャフト内の前記作動部材の反対側の第2の横方向側部に位置決めされた第2のブラダを有する、外科用器械。 - 請求項3記載の外科用器械において、
前記関節運動部材は、前記第1の流体通路および前記第2の流体通路とそれぞれ連通する第1の遠位シリンダおよび第2の遠位シリンダ内で側方に動く互いに反対側に突き出た第1の遠位ピストンと第2の遠位ピストンを含む近位部分を有する、外科用器械。 - 請求項3記載の外科用器械において、
前記流体制御装置は、
前記第1の流体通路と連通状態にある第1の流体リザーバと、
前記第2の流体通路と連通状態にある第2の流体リザーバと、
前記第1および第2の流体リザーバのうちの選択された一方を圧縮させ、かつ、前記第1および第2の流体リザーバのうちの選択されなかった他方を前記第2のブラダに加わる圧縮力に反応して拡張させることができるよう動作可能に構成された側方アクチュエータと、を有する、外科用器械。 - 請求項5記載の外科用器械において、
前記第1および第2の流体リザーバは、それぞれのピストンシリンダを有し、前記関節運動制御装置は、前記第1および第2のピストンシリンダ内に運動可能にそれぞれ受け入れられた第1および第2のピストンを有する、外科用器械。 - 請求項5記載の外科用器械において、
前記関節運動制御装置は、前記第1および第2の流体リザーバを差動的に圧縮する手段を有する、外科用器械。 - 請求項3記載の外科用器械において、
前記流体制御装置は、
前記第1の流体通路および前記第2の流体通路と連通状態にある流体リザーバと、
前記流体リザーバを第1のリザーバ部分および第2のリザーバ部分に分離する可動密封面と、
前記可動密封面を移動させて前記第1および第2のリザーバ部分の各々について流体容積を差動的に調節するよう動作可能に構成された側方アクチュエータと、を有する、外科用器械。 - 請求項8記載の外科用器械において、
前記側方アクチュエータは、前記第1および第2のリザーバ部分の各々について流体容積を差動的に調節する手段を有する、外科用器械。 - 請求項3記載の外科用器械において、
前記エンドエフェクタの前記近位表面は、歯車セグメントを有し、前記スライドバーの前記遠位端部は、歯車ラックを有する、外科用器械。 - 外科用器械において、
患者の外部での操作が可能なように構成された近位部分と、
前記近位部分に取り付けられた細長いシャフトであって、当該細長いシャフトの近位部分を貫通して第1および第2の流体通路が設けられたシャフトと、
エンドエフェクタと、
前記エンドエフェクタを前記細長いシャフトに取り付ける関節運動継手と、
前記近位部分に取り付けられていて、流体を、前記第1および第2の流体通路を通り前記細長いシャフトを通って差動的に移送させるよう動作可能に構成された流体制御装置と、
前記第1の流体通路と流体連通状態にある第1の流体アクチュエータと、
前記第2の流体通路と流体連通状態にある第2の流体アクチュエータと、を有し、
前記第1の流体アクチュエータと前記第2の流体アクチュエータは協働して、流体の前記差動的移送に反応して前記関節運動継手を作動させる、外科用器械。
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JP4987319B2 (ja) | 2012-07-25 |
BRPI0600394A (pt) | 2006-10-03 |
US20060190032A1 (en) | 2006-08-24 |
ATE418291T1 (de) | 2009-01-15 |
CA2536915A1 (en) | 2006-08-18 |
HK1094143A1 (en) | 2007-03-23 |
DE602006004375D1 (de) | 2009-02-05 |
US7828186B2 (en) | 2010-11-09 |
CA2536915C (en) | 2013-09-03 |
US20060190031A1 (en) | 2006-08-24 |
RU2006104977A (ru) | 2007-08-27 |
AU2006200541A1 (en) | 2006-09-07 |
EP1693008A1 (en) | 2006-08-23 |
US20060190028A1 (en) | 2006-08-24 |
AU2006200541B2 (en) | 2012-05-03 |
EP1693008B1 (en) | 2008-12-24 |
US7559450B2 (en) | 2009-07-14 |
SG125203A1 (en) | 2006-09-29 |
US7455208B2 (en) | 2008-11-25 |
KR20060093060A (ko) | 2006-08-23 |
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