JP2011083567A - Instrument fixing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an instrument fixing device which has improved fixing position accuracy and improved retaining force. <P>SOLUTION: The instrument fixing device is configured by: arranging bellows flexibly configured by inserting a wire into a number of joint barrels, an attachment for fixing an instrument to the distal end part of the bellows, and a cylinder unit for tightening and loosening the wire on the proximal end part of the bellows; and engaging a link or a wire fixing shaft with a pulley for delaying the wire tightening/loosening movement caused by elongation and contraction of a piston rod of the cylinder unit; and fixing a rear end part of the wire to the link or the wire fixing shaft. As a hand switch or a foot switch, a pressure sensitive switch is employed whose resistance value is varied according to pressure force, so that the tightening and loosening movement is made to follow a variation amount of the resistance value. Furthermore, an inorganic friction material is sintered on either or a both of a spherical part upper outer surface and a cylindrical part lower inner surface of the joint barrels so as to raise a friction coefficient between the connected joint barrels each other. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an instrument fixing device for fixing a brain spatula, an endoscope, or the like used when performing a brain surgery, and more particularly to an instrument fixing device improved to improve the accuracy of a fixing position and increase the holding force. Is.

  Conventionally, when brain surgery is performed on a brain affected part in a skull surgery, a hole is made in the skull, and the affected part is operated through the hole. In this operation, when the affected part is in the deep part of the brain, etc., the brain around the affected part is spread with a spatula to facilitate the operation, and further, an endoscope is inserted to perform the operation. .

  As an instrument fixing means for fixing the above-mentioned brain spatula, endoscope, etc., for fixing the brain spatula, endoscope, etc. to the tip of the bellows configured to be bent by inserting a number of joint pieces through the wire There is an appliance fixing device in which an attachment is provided, and a cylinder unit for fixing the appliance at an arbitrary position by tightening the wire with an air cylinder at the base end portion of the bellows. For example, there are “universal position fixing device for instruments” disclosed in Japanese Utility Model Laid-Open No. 06-74111 and “brain fixing device” disclosed in Japanese Patent Laid-Open No. 2002-345825.

Actual open Hei 06-74111 JP 2002-345825 A

  In the fixing device described in each of the above publications, as an operation means for tightening the wire, by turning ON / OFF a hand switch disposed on the attachment or a foot switch installed in the vicinity of the fixing device, the air compressor to the cylinder unit Controlling the supply of pressure air.

  However, the hand switch and foot switch in the above method can only perform ON / OFF control by mechanical contact, that is, supply or stop of pressure air to the cylinder unit. For this reason, the tension / relaxation operation of the piston rod of the cylinder unit is performed steeply, and the fixed position shifts from the set position due to the reaction. The problem is remarkable when the instrument fixed to the attachment is a relatively heavy endoscope, and the joint piece constituting the bellows is held so that the relatively heavy instrument can be securely fixed. At the same time, increased power was also required.

  In addition, there is a need to finely adjust the position of the brain spatula, endoscope, etc. fixed to the attachment in order to perform the surgery smoothly, but there is a problem that it cannot be performed for the above reason.

  The present invention has been made in order to solve the above-mentioned problems and demands. In an instrument fixing device for fixing a brain spatula, an endoscope or the like used for performing a brain surgery, a fixed position is provided. An object of the present invention is to provide a device fixing device that is improved in accuracy and holding power.

  In order to solve the above-mentioned problems, in the instrument fixing device of the present invention, a bellows configured to be bent by inserting a number of joint pieces through a wire, and instruments such as a brain spatula and an endoscope are provided at the tip of the bellows. An attachment for fixing and a cylinder unit which is a tension / relaxation mechanism for tightening or loosening the wire at the proximal end of the bellows, and a tension / relaxation operation of the wire on the piston rod of the cylinder unit A link or a wire fixing shaft is engaged with a pulley constituting an auxiliary mechanism unit for delaying the wire, and a rear end portion of the wire is fixed to the link or the wire fixing shaft.

  In addition, a hand switch disposed in the attachment or a foot switch installed in the vicinity of the fixing device is used as a pressure-sensitive switch whose resistance value changes according to the applied pressure, and the tension / relaxation operation of the piston rod of the cylinder unit is set to the resistance value. Follow operation according to the amount of change.

  Further, in the joint piece constituting the bellows, an inorganic friction material is sintered and attached to one or both of the upper outer surface of the spherical part and the lower part of the cylindrical part of the joint piece in order to increase the friction coefficient between the joint pieces connected to each other. .

  According to the instrument fixing device of the present invention, a delay is exerted on the tension-relaxation operation of the wire between the bellows proximal end wire which is configured to be bent by inserting a number of joint pieces into the wire and the cylinder unit. By engaging the auxiliary mechanism unit consisting of the pulley and link or wire fixing shaft, the tension-relaxation operation of the piston rod is delayed and transmitted to the wire, so the accuracy of the fixed position can be improved without reaction. The effect that it is made. In addition, by using a hand switch disposed in the attachment or a foot switch installed in the vicinity of the fixing device as a pressure-sensitive switch whose resistance value changes according to the applied pressure, the tension / relaxation operation of the piston rod of the cylinder unit is performed. Since the follow-up operation can be performed according to the amount of change in the resistance value, the tension can be further relaxed and the accuracy of the fixed position can be further improved, and the fine adjustment can be easily performed. In addition, since the friction coefficient between the connected joint pieces is increased by sintering the inorganic friction material to one or both of the upper outer surface of the spherical part and the lower inner surface of the cylindrical part of the joint piece, the holding force is increased. The effect that it is made.

  The best mode for carrying out the present invention will be described with reference to the drawings. FIG. 1 is an external view of a first embodiment of the instrument fixing device of the present invention. First, a support pipe 15 is fixed to the upper end of the auxiliary mechanism unit 2 with bolts 14, a wire 13 is inserted into the support pipe 15 and a hole drilled in the bolt 14, and a number of joint pieces are inserted into the wire 13. 16 is inserted into a bellows 17. The support pipe 15 and the bolt 14 are covered with a decorative cover 4. Further, an attachment 22 for fixing an instrument such as a brain spatula or an endoscope is fixed to the distal end portion of the bellows 17, and a pressure sensitive switch 23 is disposed on the attachment 22 as a hand switch. Further, the contact signal of the pressure sensitive switch 23 is connected via the cable 20 to the connector 19 fixed to the side surface of the auxiliary mechanism unit 2. Next, the cylinder unit 3 is disposed at the lower end portion of the auxiliary mechanism unit 2, and a joint 21 for sending pressure air to the air cylinder in the cylinder unit 3 is provided on the side surface of the cylinder unit 3.

  Since the auxiliary mechanism unit 2 delays the tension / relaxation operation accompanying the expansion / contraction of the piston rod 5 of the air cylinder in the cylinder unit 3 which is a tension / relaxation mechanism, the wire 13 is directly expanded / contracted by the piston rod 5. Instead, the wire 8 fixed to the wire fixture 7 fixed to the tip of the piston rod 5 via the bolt 6 is wound around the surface of the pulley 9. The pulley 9 is pivotally attached to a hole provided on the inner surface of the auxiliary mechanism unit 2 by shafts 11, 11 on both surfaces of the center portion.

  FIG. 3 is an external view of a pulley used in the first embodiment of the instrument fixing device of the present invention, and FIG. 4 is an external view of a link that engages with the pulley of FIG. As shown in the figure, an eccentric shaft 25 is provided between one side of the pulley 9 and the shaft 11, and is attached to the hole 26 of the link 12. Further, the rear end portion of the wire 13 is fixed to the link 12. The expansion / contraction distance of the wire 13 associated with the expansion / contraction of the piston rod 5 of the air cylinder is approximately 1/8 of the expansion / contraction distance associated with the rotational movement of the eccentric shaft 25 engaged with the link 12. This delays the tension / relaxation operation of the piston rod 5 of the air cylinder.

  The operation of the instrument fixing device 1 according to the first embodiment configured as described above will be described with reference to the drawings.

  FIG. 2 is an operation explanatory view of the instrument fixing device according to the first embodiment of the present invention. FIG. 2A is an internal plan view in the state where the wire 13 is tightened, and is the same as FIG. (B) is a side view when the wire 13 is loosened, and pressure air is not supplied from an air compressor (not shown) to the air cylinder in the cylinder unit 3, so that the piston rod 5 is in a relaxed state. . Therefore, the pulley 9 rotates rightward as indicated by an arrow in the drawing (because a spring mechanism (not shown) is engaged with the shaft 11 so as to rotate rightward in a relaxed state), and the eccentric shaft of the pulley 9 is also rotated. Since the link 12 engaged with 25 moves to the left as indicated by the arrow in the figure, the wire 13 fixed to the link 12 also moves to the left and the joint pieces 16 inserted through the wire 13 are connected to each other. It relaxes and becomes movable.

  (C) is a side view in a state where the wire 13 is tightened, and since pressure air is supplied from an air compressor (not shown) to the air cylinder in the cylinder unit 3, the piston rod 5 is in a tension state. Become. Therefore, the pulley 9 is pulled by the wire 8 fixed to the wire fixture 7 fixed to the bolt 6 at the tip portion of the piston rod 5, and rotates to the left as indicated by an arrow in the drawing. Since the link 12 engaged with the eccentric shaft 25 moves in the right direction as indicated by an arrow in the figure, the wire 13 fixed to the link 12 also moves in the right direction and is inserted into the wire 13. The frames 16 are in tension and are fixed. In the process of this state, the tension relaxation operation is delayed by the auxiliary mechanism unit 2 described above, so that the accuracy of the fixed position is improved without reaction. A base 18 is formed on one side surface of the auxiliary mechanism unit 2, and the wire 8 is not pulled more than a certain length by a stopper 10 fixed to one side surface of the pulley 9. Moreover, the front-end | tip part of the wire 8 is fixed in the one side surface of the pulley 9 with a wire fixing tool (not shown).

  FIG. 5 is a structural diagram of a pressure-sensitive switch used in the instrument fixing device of the present invention. As a hand switch disposed on the attachment 22 or a foot switch installed in the vicinity of the fixing device, an electrode 29 is formed on the bottom surface of the conductive rubber 28. 6 is fixed to the substrate 27, and the pressure sensitive switch 23 is configured by arranging the button 24 by bringing the electrode 29 into contact with the upper surface of the conductive rubber 28. As shown in the FR characteristic diagram of the pressure-sensitive switch to be used, the resistance value R between the electrodes 29 and 29 changes according to the pressure F pressing the button 24. For this reason, the change amount of the resistance value R is input to a control device (not shown) connected to the connector 19, and the change amount of the resistance value R is supplied from the air compressor in the control device. When the pressure is supplied to the air cylinder in the cylinder unit 3 from the joint 21 via the air tube, the tension / relaxation operation of the piston rod 5 can be followed according to the change amount of the resistance value R. Adjustments can be made.

  FIG. 7 is a state diagram in which an inorganic friction material is sintered and attached to a joint piece used in the instrument fixing device of the present invention, where (a) is a front view and (b) is a front sectional view. As shown in the figure, in the joint piece 16 constituting the bellows 17, an inorganic friction material 32 is provided on one or both of the upper outer surface of the upper half of the joint piece 16 and the lower inner surface of the lower cylindrical part. Since the friction coefficient between the articulated pieces 16 connected to each other is increased by sintering, the holding force is enhanced.

  Next, FIG. 8 is an external view of the instrument fixing device according to the second embodiment of the present invention. Similarly, in this embodiment, first, the bolt 14 is fixed to the upper end portion of the auxiliary mechanism unit 2, the wire 13 is inserted into the hole drilled in the bolt 14, and the joint piece 16 is inserted into the wire 13. Is inserted into a bellows 17. The joint piece 16 and the bolt 14 at the rear end of the bellows 17 are covered with a decorative cover 4. Further, an attachment 22 for fixing an instrument such as a brain spatula or an endoscope is fixed to the distal end portion of the bellows 17, and a pressure sensitive switch 23 is disposed on the attachment 22 as a hand switch. Further, the contact signal of the pressure sensitive switch 23 is connected via the cable 20 to the connector 19 fixed to the side surface of the auxiliary mechanism unit 2. Next, the cylinder unit 3 is disposed at the lower end portion of the auxiliary mechanism unit 2, and a joint 21 for sending pressure air to the air cylinder in the cylinder unit 3 is provided on the side surface of the cylinder unit 3.

  Since the auxiliary mechanism unit 2 delays the tension / relaxation operation accompanying the expansion / contraction of the piston rod 5 of the air cylinder in the cylinder unit 3 which is a tension / relaxation mechanism, the wire 13 is directly expanded / contracted by the piston rod 5. Instead, the wires 8 and 8 fixed to the wire fixture 7 fixed to the tip of the piston rod 5 are wound around the surface of the pulley 9. The pulley 9 is pivotally attached to a hole provided on the inner surface of the auxiliary mechanism unit 2 by shafts 11, 11 on both surfaces of the center portion.

  In addition, a wire fixing shaft 31 is rotatably attached to a position eccentric from the shaft 11 in the central portion of the pulley 9, and a rear end portion of the wire 13 is fixed to the wire fixing shaft 31. Since the expansion / contraction distance of the wire 13 associated with the expansion / contraction of the piston rod 5 of the air cylinder is approximately 1/4 of the expansion / contraction distance associated with the rotational movement of the wire fixing shaft 31, the piston rod of the air cylinder in the cylinder unit 3 is used. 5 is delayed.

  The operation of the instrument fixing device 1 according to the second embodiment configured as described above will be described with reference to the drawings.

  FIG. 9 is an explanatory view of the operation in the second embodiment of the instrument fixing device of the present invention. FIG. 9A is an internal plan view in the state where the wire 13 is tightened, and is the same as FIG. (B) is a side view when the wire 13 is loosened, and pressure air is not supplied from an air compressor (not shown) to the air cylinder in the cylinder unit 3, so that the piston rod 5 is in a relaxed state. . Therefore, the pulley 9 rotates leftward as indicated by an arrow in the drawing (because a spring mechanism (not shown) is engaged with the shaft 11 so as to rotate leftward in a relaxed state), and the wire fixing shaft of the pulley 9 is also shown. Since the wire 13 fixed to 31 also moves to the left as indicated by the arrow in the figure, the joint pieces 16 inserted through the wire 13 relax and become movable.

  (C) is a side view in a state where the wire 13 is tightened, and since pressure air is supplied from an air compressor (not shown) to the air cylinder in the cylinder unit 3, the piston rod 5 is in a tensioned state. Become. Therefore, the pulley 9 is pulled by the wire 8 fixed to the wire fixing tool 7 at the tip end portion of the piston rod 5 and rotates to the right as indicated by an arrow in the figure, and is attached to the wire fixing shaft 31 of the pulley 9. Since the fixed wire 13 also moves in the right direction as indicated by an arrow in the figure, the joint pieces 16 inserted through the wire 13 are in tension and become fixed. In the process of this state, since the tension / relaxation operation is delayed by the auxiliary mechanism unit 2 described above, the accuracy of the fixed position is improved without a reaction. A base 18 is formed on one side surface of the auxiliary mechanism unit 2, and the wire 8 is not pulled more than a certain length by a stopper 10 fixed to one side surface of the pulley 9. Further, the tip end portion of the wire 8 is fixed by a wire fixing tool 30 on one side surface of the pulley 9.

  In addition, since the structure and function of the pressure sensitive switch 23 used in the second embodiment described above are the same as those of the first embodiment and the obtained effects are the same, the description thereof will be omitted. Further, since the structure and function of the joint piece 16 used in the second embodiment are the same as those of the first embodiment and the obtained effects are the same, the description thereof is also omitted.

  The instrument fixing device 1 according to the first embodiment described above uses the link 12 in the auxiliary mechanism unit 2 and also has a larger joint piece 16 than the instrument fixing device 1 according to the second embodiment, so that an instrument such as an endoscope can be fixed. Suitable for use. Moreover, since the instrument fixing device 1 according to the second embodiment is small in size, it is suitable for fixing the brain spatula.

It is an external view in the 1st Example of the instrument fixing device of this invention. It is operation | movement explanatory drawing in the 1st Example of the instrument fixing device of this invention. It is an external view of the pulley used in the 1st Example of the instrument fixing device of this invention. FIG. 4 is an external view of a link that engages with the pulley of FIG. 3. It is a block diagram of the pressure sensitive switch used with the instrument fixing device of this invention. It is FR characteristic figure of the pressure sensitive switch used with the instrument fixing device of this invention. It is a state diagram in which an inorganic friction material is sintered and attached to a joint piece used in the instrument fixing device of the present invention. It is an external view in the 2nd Example of the instrument fixing device of this invention. It is operation | movement explanatory drawing in the 2nd Example of the instrument fixing device of this invention.

DESCRIPTION OF SYMBOLS 1 Instrument fixing device 2 Auxiliary mechanism unit 3 Cylinder unit 4 Decoration cover 5 Piston rod 6 Bolt 7 Wire fixing tool 8 Wire 9 Pulley 10 Stopper 11 Shaft 12 Link 13 Wire 14 Bolt 15 Strut pipe 16 Joint piece 17 Bellows 18 Base 19 Connector 20 Cable 21 Joint 22 Attachment 23 Pressure sensitive switch 24 Button 25 Eccentric shaft 26 Hole 27 Substrate 28 Conductive rubber 29 Electrode 30 Wire fixing tool 31 Wire fixing shaft 32 Inorganic friction material

Claims (3)

  A bellows configured to be freely bent by inserting a number of joint pieces through the wire, an attachment for fixing a device such as a brain spatula or an endoscope to the tip of the bellows, and the wire at the base end of the bellows A cylinder unit, which is a tension / relaxation mechanism for tightening and loosening the wire, and a link to a pulley constituting an auxiliary mechanism unit for delaying the tension / relaxation operation of the wire on the piston rod of the cylinder unit. An instrument fixing device comprising a wire fixing shaft and a rear end portion of the wire fixed to the link or the wire fixing shaft.   The hand switch installed on the attachment or the foot switch installed near the fixing device is a pressure-sensitive switch whose resistance value changes according to the applied pressure, and the tension-relaxation operation of the piston rod of the cylinder unit is the amount of change in the resistance value. The appliance fixing device according to claim 1, wherein the appliance is operated in accordance with the operation.   In the joint piece constituting the bellows, in order to increase the coefficient of friction between the joint pieces connected to each other, an inorganic friction material is sintered on one or both of the upper outer surface of the spherical part and the lower part of the cylindrical part of the joint piece. The instrument fixing device according to any one of claims 1 and 2, wherein the instrument fixing device is characterized.

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