JP2012000199A - Medical appliance supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a medical appliance supporting device which allows an operator to always excellently perform operation of moving or fixing a medical appliance without being affected by a posture of gripping the medical appliance or a way of gripping the appliance, and which also facilitates cleaning and sterilizing of the supporting part supporting the medical appliance.SOLUTION: The medical appliance supporting device includes: an adaptor 3 for removably supporting an endoscope 2 having a grip part 2b; an arm connection body 4 which is connected to the adaptor 3 and is formed by connecting a plurality of arm parts 4a, 4b and 4c by joint parts 4d, 4e, 4f and 4g so as to be bendable; braking means which are provided in the joint parts 4d, 4e, 4f and 4g and switch-over the fixing state and release state of the joint parts 4d, 4e, 4f and 4g; levers 17, 18 which are provided in the adaptor 3 so as to cover at least a part of the surface of the grip part 2b in the endoscope 2 and are movable in a direction of coming close to/separating from the grip part 2b of the endoscope 2 by the operation of the operator; and a switch unit 12 which performs operation of switching over the braking means into release states by moving the levers 17, 18 in a direction of coming close to the grip part 2b of the endoscope 2.

Description

  The present invention relates to a medical instrument holding device that holds a medical instrument such as an endoscope used in surgery on behalf of an operator.

  In general, in laparoscopic surgery using an endoscope, a dedicated assistant (hereinafter referred to as an endoscope holder) holds an endoscope for observing the inside of the abdominal cavity. During surgery, when you want to change the observation position and angle of view of the surgical site, the endoscope holder manually changes the direction of the endoscope or inserts it according to instructions from the main surgeon or an assistant who performs joint treatment. Operations such as moving forward and backward in the direction are performed. Therefore, the endoscope holder has to keep holding the endoscope during the operation, and a great effort is required. Furthermore, the operating room is narrow because there are various medical devices necessary for the operation and an assistant for operating the operating room, and the presence of the endoscope holder has a problem of further reducing the space of the operating room.

  Therefore, conventionally, an endoscope inserted into a patient's body cavity is held by an endoscope holding device, and the endoscope can be directly operated by the main operator so that the endoscope holder is unnecessary. Has been developed. Among such endoscope holding devices, those that can fix the movement of the endoscope with a brake in order to prevent unexpected movement of the endoscope are disclosed in Patent Documents 1 and 2, etc. Has been.

  Patent Document 1 discloses a medical device support device having a configuration in which a plurality of arms are connected to each other, joint portions are disposed between the plurality of arms, and an endoscope is held by a holding member provided on a distal arm. Is described. Here, the holding member for holding the endoscope is provided with two switches for unlocking the arm. A brake that can be fixed / released is provided in each joint. By pressing the two switches, the brakes in each joint are released, the arms are unlocked and the endoscope can be moved, and when the hands are released, the brakes in each joint are activated. The endoscope is fixed. Then, when moving the position of the endoscope, the surgeon grasps the holding portion that holds the endoscope and presses two switches of the holding member to unlock the arm. Thereby, by bending the joints between the arms, the endoscope can be moved three-dimensionally and the posture can be changed in the vicinity of the endoscope.

  Patent Document 2 discloses an endoscope holding device (endoscope holder) that holds a rigid endoscope for laparoscopic surgery. A rigid endoscope for laparoscopic surgery is generally used by being attached to an endoscope holding device (endoscope holder). The endoscope holding device is provided with a button for switching an electrical changeover switch for electromagnetically locking or freeing the fixed state of the endoscope. In the holding device of Patent Document 2, a switch is provided in a grip portion of a holding portion that holds an endoscope. Further, a brake that can be fixed / released is provided in the joint. The endoscope can be moved by pressing a switch switching button on the grip portion of the holding section, and the endoscope is fixed when the hand is released from the switch switching button.

JP 2005-125056 A JP 2002-191545 A

  When the holding member that holds the endoscope is provided with a changeover switch that electromagnetically locks or frees the endoscope, as in Patent Documents 1 and 2, the operator can use the endoscope. Depending on the posture of gripping, the operability is unfavorable, for example, the switch is difficult to press.

  Further, the changeover switch is generally provided in the vicinity of the holding portion of the endoscope that is likely to be contaminated during use. When the holding part has an electrical changeover switch as described above, it is extremely difficult to clean and sterilize the holding part of the holding device after use. Therefore, in practice, the holding part is generally used with a sterilized cover (drape). However, when the changeover switch is operated from above the drape, it is easy to slip and the operability of the switch is not preferable.

  The present invention has been made by paying attention to the above circumstances, and its purpose is not affected by the posture or gripping method of the medical instrument, and the medical instrument can be moved and fixed in a good condition at all times. It is an object of the present invention to provide a medical instrument holding device that can easily clean and sterilize a holding part that holds an instrument.

An aspect of one aspect of the present invention includes a holding unit that detachably holds a medical device including a gripping unit, and an arm connection that is connected to the holding unit and that allows a plurality of arm units to be connected by a joint unit and bendable. A body, a braking means provided at the joint, and switching between a fixed state and a released state of the joint, and at the holding part so as to cover at least a part of a grip part surface of the medical device; The operation of switching the braking means to the release state by moving the lever in a direction approaching or separating from the gripping portion of the medical device by moving the lever in a direction approaching the gripping portion of the medical instrument. And a medical instrument holding device.
In the above configuration, when operating the input means, the operator operates the lever provided on the holding unit so as to cover at least a part of the surface of the holding unit of the medical device in the direction of approaching the holding unit. As a result, the braking means is switched to the released state. This improves the handling performance of the operator when moving the endoscope held by the holding device three-dimensionally.

Preferably, the holding unit is washable and sterilizable, the arm coupling body includes an electric switch as the input means, and an attachment / detachment unit for attaching / detaching the arm coupling body and the holding unit, and the arm Cover means for covering the coupling body and lever interlock means for operating the input means in conjunction with movement of the lever.
In the above configuration, since the brake release lever is provided so as to cover the grip portion of the medical device, the grip operation of the medical device becomes the brake release operation as it is, and the operability is good. In addition, since the lever for releasing the brake is provided on the sterilizable adapter, it is not necessary to cover the lever with a sterilizing drape, and the operability is good. Further, since the arm connection body is provided with an electric switch as input means, there is no deterioration of the switch due to cleaning and sterilization. As a result, the running cost can be reduced because the switch need not be disposable.

Preferably, the lever interlocking means includes at least a first interlocking member that moves in conjunction with the movement of the lever, and a moving direction of the first interlocking member in conjunction with the movement of the first interlocking member. It is comprised from the 2nd interlocking member which moves to a different direction and operates the said input means.
And in the said structure, a switch is provided in the arm coupling body which does not perform washing | cleaning sterilization, and the direction different from the moving direction of the 1st interlocking member which moves in conjunction with the movement of a lever from a lever at least Since the switch is operated through the lever interlocking means including the second interlocking member for operating the input means, there is no deterioration of the switch due to cleaning and sterilization. As a result, the running cost can be reduced because the switch need not be disposable. Therefore, regardless of the posture or how to hold the medical device, the medical device can be moved and fixed in a good condition at all times, and the holding part holding the medical device can be easily cleaned and sterilized. is there.

Preferably, the first interlocking member includes a tapered surface, and the second interlocking member moves in a direction different from a moving direction of the first interlocking member by contacting the tapered surface.
In the above configuration, when the lever is operated, the first interlocking member moves in conjunction with the movement of the lever, and the second interlocking member comes into contact with the tapered surface of the first interlocking member, whereby the second The interlocking member moves in a direction different from the moving direction of the first interlocking member.

Preferably, the medical instrument is an endoscope.
In the above configuration, when operating the input unit, the operator moves the lever provided on the holding unit so as to cover at least a part of the surface of the holding unit of the endoscope in the direction of approaching the holding unit. By doing so, the braking means is switched to the released state. This improves the handling performance of the operator when moving the endoscope held by the holding device three-dimensionally.

Preferably, the medical instrument is an ultrasonic probe.
In the above configuration, when operating the input unit, the operator moves the lever provided on the holding unit so as to cover at least part of the surface of the holding unit of the ultrasonic probe in the direction of approaching the holding unit. By doing so, the braking means is switched to the released state. Thereby, the handling property of the operator when moving the ultrasonic probe held by the holding device in a three-dimensional manner is improved.

In another aspect of the present invention, there are provided a holding unit that detachably holds a medical instrument, an arm coupling body that is connected to the holding unit, connects a plurality of arm units by joints, and is bendable; Brake means that is disposed at a position away from the position of the joint portion with respect to the medical instrument, and that switches between a fixed state and a release state of the transmission means, and a transmission means that transmits the rotation of the joint portion to the brake means. A medical instrument holding device provided.
And in the said structure, the brake for fixing a joint part is arrange | positioned in the position away from the medical instrument, and it transmits a rotation of a joint part to a brake by a transmission means. Therefore, the joint part around the medical instrument can be reduced in size and weight, and can be configured not to interfere with the operation.

Preferably, the transmission means is a belt-like transmission means for deformably transmitting between at least two rotating bodies.
And in the said structure, rotation of a joint part is transmitted to a brake by a strip | belt-shaped transmission means. Therefore, the joint part around the medical instrument can be reduced in size and weight, and can be configured not to interfere with the operation.

Preferably, the rotating body is a pulley.
And in the said structure, rotation of a joint part is transmitted to a brake by the transmission means which consists of a combination of a pulley and a belt. Therefore, the joint part around the medical instrument can be reduced in size and weight, and can be configured not to interfere with the operation.

Preferably, the rotating body is a sprocket.
And in the said structure, rotation of a joint part is transmitted to a brake by the transmission means which consists of a combination of a sprocket and a chain. Therefore, the joint part around the medical instrument can be reduced in size and weight, and can be configured not to interfere with the operation.

Preferably, the belt-shaped transmission means is a belt.
And in the said structure, rotation of a joint part is transmitted to a brake by the transmission means which consists of a combination of a pulley and a belt. Therefore, the joint part around the medical instrument can be reduced in size and weight, and can be configured not to interfere with the operation.

Preferably, the belt-shaped transmission means is a wire.
And in the said structure, rotation of a joint part is transmitted to a brake by the strip | belt-shaped transmission means consisting of a wire. Therefore, the joint part around the medical instrument can be reduced in size and weight, and can be configured not to interfere with the operation.

Preferably, the belt-like transmission means is a chain.
And in the said structure, rotation of a joint part is transmitted to a brake by the strip | belt-shaped transmission means which is a chain. Therefore, the joint part around the medical instrument can be reduced in size and weight, and can be configured not to interfere with the operation.

Preferably, the transmission means is a gear.
And in the said structure, rotation of a joint part is transmitted to a brake with gear mechanisms, such as a gear. Therefore, the joint part around the medical instrument can be reduced in size and weight, and can be configured not to interfere with the operation.

  According to the present invention, regardless of the posture and how to hold the medical device, the medical device can be moved and fixed in a good condition at all times, and the holding portion for holding the medical device can be easily cleaned and sterilized. A medical device holding device can be provided.

1 is a side view showing an overall schematic configuration of an endoscope holding apparatus according to a first embodiment of the present invention. The longitudinal cross-sectional view of the principal part which shows the connection part of the adapter and endoscope of the endoscope holding | maintenance apparatus of 1st Embodiment. The longitudinal cross-sectional view of the principal part which shows the connection part of the adapter and endoscope of the endoscope holding | maintenance apparatus of the 2nd Embodiment of this invention. 3A and 3B show a third embodiment of the present invention, in which FIG. 3A is a longitudinal sectional view of a main part showing a connecting portion between an adapter of an endoscope holding device and an endoscope, and FIG. Figure. 4A and 4B show a fourth embodiment of the present invention, in which FIG. 4A is a longitudinal sectional view of a main part showing a connecting portion between an adapter of an endoscope holding device and an endoscope, and FIG. Figure.

[First Embodiment]
(Constitution)
1 and 2 show a first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes an endoscope holding apparatus as a medical instrument holding apparatus, and reference numeral 2 denotes an endoscope as a medical instrument for treating and observing a patient. The endoscope 2 includes an insertion portion 2a to be inserted into a body cavity and a grasping portion 2b for an operator to grasp, and incorporates a CCD (not shown) to display an image in the body cavity on a monitor (not shown). It is a device to display.

  The endoscope holding apparatus 1 includes an adapter 3 as a holding unit that holds the endoscope 2, and a plurality of arms that are connected to the adapter 3 are connected by joint portions to be bendable, It consists of a base 5. A plurality of casters 6 for movement are provided on the bottom surface of the base 5.

  The arm connection body 4 is composed of a plurality of arms (4a, 4b, 4c) and four joint portions (4d, 4e, 4f, 4g) described below in the present embodiment. That is, the first arm 4a, the second arm 4b, and the vertical arm 4c, the joint 4d between the adapter 3 and the first arm 4a, the joint 4e between the first arm 4a and the second arm 4b, The joint portion 4f is between the second arm 4b and the vertical arm 4c, and the joint portion 4g is between the vertical arm 4c and the base 5. The joint portions are rotatably coupled. Each joint portion is provided with a brake as a braking means that can be freely locked / freed (switching between a fixed state and a released state of the joint portion) by an attraction force of an electromagnet (not shown) or air pressure. The second arm 4b is provided with a balance weight 4h that cancels out the weight from the endoscope 2 to the second arm 4b at the end of the connecting portion side with the vertical arm 4c.

  Since the endoscope holding device 1 is used in the operating room, it needs to be kept clean. The arm connection body 4 is covered with a sterilized drape 7 as a cover means. The arm connector 4 is difficult to clean and sterilize because it has a built-in brake or the like, but the arm connector 4 is covered with a sterilized drape 7 so as to keep it clean. The endoscope 2 and the adapter 3 are configured to be washable and sterilizable.

  FIG. 2 is a diagram showing details of the vicinity of the connecting portion between the adapter 3 and the endoscope 2 of the endoscope holding apparatus 1. The adapter 3 includes a cylindrical endoscope attachment portion 3a connected to the endoscope 2 and an arm attachment portion 3b connected to a joint portion 4d between the first arm 4a. The arm attaching portion 3b is provided with a flange portion 3b1.

  The joint portion 4d has a bearing 10 fixed to the arm 4a, and a shaft 9 supported by the bearing 10 so as to be rotatable about an axis about a rotation axis in a direction perpendicular to the arm 4a with respect to the arm 4a. And have. A concave adapter mounting portion 9 a is formed on the end surface of the shaft 9. A male screw portion 9 b is formed on the outer peripheral surface of the end portion of the shaft 9. A female screw portion 11a of the adapter fixing ring 11 is detachably screwed to the male screw portion 9b. As shown in FIG. 2, the flange 3b1 of the adapter 3 is screwed into the male thread 9b by inserting the female thread 11a of the ring 11 in a state where the flange 3b1 is inserted into the adapter mounting part 9a of the shaft 9. An attachment / detachment portion that is detachably connected to 4d is configured. Thereby, the adapter 3 is rotatably supported with respect to the arm 4a by the bearing 10 of the joint part 4d.

  The endoscope mounting portion 3a is formed with a screw hole 3a2 for fixing the endoscope in a direction perpendicular to the insertion hole 3a1 in the peripheral wall portion of the insertion hole 3a1 into which the insertion portion 2a of the endoscope 2 is inserted. Yes. An endoscope fixing screw 8 is screwed into the screw hole 3a2. The insertion portion of the endoscope 2 is inserted by the endoscope fixing screw 8 screwed into the screw hole 3a2 in a state where the insertion portion 2a of the endoscope 2 is inserted into the insertion hole 3a1 of the endoscope attachment portion 3a. 2 a is fixed to the adapter 3.

  Further, the adapter 3 is provided with a switch mounting portion 3e and two lever support portions 3c and 3d on the outer peripheral surface of the end portion on the connection portion side with the grip portion 2b in the endoscope mounting portion 3a. The switch mounting portion 3e is provided with a switch unit 12 as input means. The switch unit 12 includes an attachment portion 12 a that can be attached to the switch attachment portion 3 e of the adapter 3, two push button switches 13 and 14, a cable 15, and a connector 16. The two push button switches 13, 14 are arranged at a position 180 ° apart in the circumferential direction of the outer peripheral surface of the switch mounting portion 3 e of the adapter 3. The two lever support portions 3c and 3d are arranged at positions corresponding to the two push button switches 13 and 14, respectively.

  The two push button switches 13 and 14 are input means for switching between locking and free of the brake. The two push button switches 13 and 14 are connected to one end of the cable 15. A connector 16 is connected to the other end of the cable 15. The connector 16 is connected to a brake control unit (not shown).

  The brake control unit receives information from output signals from the two push button switches 13 and 14 and controls a brake (not shown) in the joint portions 4d, 4e, 4f, and 4g. When the two push button switches 13 and 14 are being pressed, the brake is released and the joint portions 4d, 4e, 4f, and 4g are switched to a movable state. When the two push button switches 13 and 14 are not pressed, the brake is fixed and the switching control is performed so that the joint portions 4d, 4e, 4f, and 4g are not moved. In addition, the switch unit 12 is a disposable product that is packaged in a sterilized state in advance and discarded after being used in surgery.

  In the adapter 3, two levers 17 and 18 that can be operated by pushing the two push button switches 13 and 14 are arranged outside the switch unit 12 so as to cover the grip portion 2 b of the endoscope 2. . One end of each of the two levers 17 and 18 is supported by the lever support portions 3c and 3d of the adapter 3 through the shafts 3c1 and 3d1 so as to be rotatable around the shafts 3c1 and 3d1.

  The levers 17 and 18 are always urged (in the direction of arrow B in FIG. 2) away from the endoscope gripping portion 2b by a spring (not shown) at all times (when there is no external force). When there is no external force, the levers 17 and 18 are held at a separated position away from the endoscope gripping portion 2 b and do not press the push button switches 13 and 14. When a force in the direction close to the gripping portion 2b (in the direction of arrow A in FIG. 2) that grips the gripping portion 2b is applied to the levers 17 and 18, the levers 17 and 18 are the endoscope gripping portions. It moves so that it may approach 2b, and it is the structure which pushes pushbutton switch 13,14.

(Function)
Next, the operation of the above configuration will be described. When the endoscope holding apparatus 1 of the present embodiment is used, first, as shown in FIG. 1, the joint portion 4 d to the vicinity of the joint portion 4 f are covered with a sterilized drape 7.

  Next, as shown in FIG. 2, the adapter 3 and the arm coupling body 4 are connected by screwing the pre-sterilized adapter 3 into the male screw portion 9 b of the female screw portion 11 a of the ring 11. Thereafter, the switch unit 12 packaged in a sterilized state is taken out of the packaging material, and the switch unit 12 is connected to the adapter 3 by inserting the mounting part 12a into the switch mounting part 3e. The connector 16 is connected in advance to a brake control unit (not shown).

  Subsequently, the endoscope 2 is connected to the adapter 3 by inserting the insertion portion 2 a of the endoscope 2 sterilized in advance into the endoscope mounting portion 3 a and tightening the fixing screw 8. In the above connection operation, the endoscope 2, the adapter 3, and the arm coupling body 4 in the range covered with the sterilized drape 7 are kept clean.

  Thereafter, when it is desired to move the endoscope 2 first, the grip portion 2b of the endoscope 2 is gripped through the levers 17 and 18. Then, the levers 17 and 18 move in a direction approaching the grip portion 2b (A direction in FIG. 2), and push the push button switches 13 and 14. At this time, information based on output signals from the two push button switches 13 and 14 is transmitted to a brake control unit (not shown) via the cable 15 and the connector 16. The brake control unit receives information that the push button switches 13 and 14 are pressed, and releases a brake (not shown) in the joint portions 4d, 4e, 4f, and 4g. In this state, the joint portions 4d, 4e, 4f, and 4g can move, and the position of the endoscope 2 can be freely moved.

  Next, when it is desired to fix the endoscope 2, the hand holding the grip 2 b of the endoscope 2 through the levers 17 and 18 is loosened. Then, the levers 17 and 18 move in a direction away from the grip portion 2b (B direction in FIG. 2) by a biasing force of a spring (not shown) and move to a position where the push button switches 13 and 14 are not pressed. At this time, information based on output signals from the two push button switches 13 and 14 is transmitted to a brake control unit (not shown) as described above. The brake control unit receives information that is switched to a position where the push button switches 13 and 14 are not pressed, and fixes brakes (not shown) in the joint portions 4d, 4e, 4f, and 4g. In this state, the joint portions 4d, 4e, 4f, and 4g are fixed, and the endoscope 2 is fixed.

  After the operation is completed, the fixing screw 8 is loosened to remove the endoscope 2 from the adapter 3, and then the switch unit 12 is removed from the adapter 3. Thereafter, the ring 11 is loosened and the adapter 3 is removed from the arm connector 4. Finally, the drape 7 is removed from the arm coupling body 4. The endoscope 2 and the adapter 3 to be reused are put into disinfection / sterilization.

  When a new operation is performed, a new drape 7 and switch unit 12, a sterilized endoscope 2, and an adapter 3 are prepared, and operations from the beginning of this description are performed.

(effect)
Therefore, the above configuration has the following effects. That is, in the endoscope holding apparatus 1 of the present embodiment, the two levers 17 and 18 for releasing the brake are provided so as to cover the grip portion 2b of the endoscope 2, so that the grip operation of the endoscope 2 is braked as it is. It is a release operation and operability is good. Further, since the two levers 17 and 18 for releasing the brake are provided in the sterilizable adapter 3, it is not necessary to cover the two levers 17 and 18 with the sterilization drape 7, and the operability is good. Therefore, the endoscope 2 can be moved and fixed in an always good state regardless of the posture and how the endoscope 2 is gripped, and the adapter 3 that holds the endoscope 2 is cleaned and sterilized. It is possible to provide a medical device holding device that is easy to handle.

  In the present embodiment, an example in which the two push button switches 13 and 14 and the brake release levers 17 and 18 are provided is shown, but the present invention is not limited to this, and one or a combination of three or more may be used. Needless to say, the same effect can be obtained by using a medical instrument other than an endoscope, for example, a treatment instrument such as an ultrasonic probe.

[Second Embodiment]
(Constitution)
FIG. 3 shows a second embodiment of the present invention. The present embodiment is a modification in which the endoscope holding device 21 of the present embodiment is provided by changing the configuration of the endoscope holding device 1 of the first embodiment (see FIGS. 1 and 2) as follows. It is an example.

  That is, in the endoscope holding device 21 of the present embodiment, in order to prevent deterioration due to cleaning and sterilization, the installation position of the push button switches 13 and 14 of the first embodiment is changed from the adapter 3 that performs cleaning and sterilization. A push button switch 38 is provided which is moved to the arm coupling body 23 (corresponding to the arm coupling body 4 in FIG. 1) which is not subjected to cleaning and sterilization. Furthermore, lever interlocking means for operating the push button switch 38 disposed in the arm coupling body 23 from the two levers 31 and 32 disposed so as to cover the grip portion 2b of the endoscope 2 is provided. is there. The same parts as those of the first embodiment other than those described above are denoted by the same reference numerals as those in FIGS. 1 and 2, and the description thereof is omitted.

  FIG. 3 is a diagram showing details in the vicinity of the connection portion between the adapter 22 and the endoscope 2 of the endoscope holding device 21 of the present embodiment. The adapter 22 according to the present embodiment includes a cylindrical endoscope attachment portion 22 a connected to the endoscope 2 and an arm attachment portion 22 b connected to a joint portion 23 d between the arm connection body 23. . The arm attaching portion 22b is provided with a flange portion 22b1.

  The endoscope mounting portion 22a is formed with a screw hole 22a2 for fixing the endoscope in a direction orthogonal to the insertion hole 22a1 in the peripheral wall portion of the insertion hole 22a1 into which the insertion portion 2a of the endoscope 2 is inserted. Yes. The endoscope fixing screw 8 is screwed into the screw hole 22a2. The insertion portion of the endoscope 2 is inserted by the endoscope fixing screw 8 screwed into the screw hole 22a2 in a state where the insertion portion 2a of the endoscope 2 is inserted into the insertion hole 22a1 of the endoscope attachment portion 22a. 2 a is fixed to the adapter 22.

  Further, the adapter 22 includes a first slider (first interlocking member) 33 for switch operation and two lever supports on the outer peripheral surface of the end portion of the endoscope attachment portion 22a on the connection portion side with the grip portion 2b. Portions 22c and 22d are provided. The two lever support portions 22 c and 22 d are disposed at positions that are 180 ° apart in the circumferential direction of the outer peripheral surface of the adapter 22.

  On both sides of the grip 2b of the endoscope 2, levers 31 and 32 are arranged so as to cover the grip 2b of the endoscope 2. One end portions of the levers 31 and 32 are rotatably supported around the shafts 22c1 and 22d1 of the adapter 22 via the shafts 22c1 and 22d1 with respect to the lever support portions 22c and 22d, respectively.

  The levers 31 and 32 are normally urged (in the direction of arrow B in FIG. 3) away from the endoscope gripping portion 2b by a spring (not shown). When there is no external force, the levers 31 and 32 are held at a separated position away from the endoscope gripping portion 2b. And when the force of the direction close | similar to the holding part 2b which grips the said holding part 2b to the levers 31 and 32 (arrow A direction in FIG. 3) is applied, the said levers 31 and 32 are endoscope holding parts. It is the structure which moves so that it may approach 2b.

  On the outer peripheral surface of the endoscope attachment portion 22a of the adapter 22, the first slider 33 is placed in the same direction as the axial direction of the insertion hole 22a1 of the adapter 22, that is, in the left-right direction (directions of arrows C and D) in FIG. A guide portion 22e that is movably supported is provided. The first slider 33 is supported so as to be movable in the same direction as the axial direction of the insertion hole 22a1 of the adapter 22 along the guide portion 22e of the endoscope attachment portion 22a.

  The first slider 33 is provided with a tapered surface 33a that is tapered toward the distal end side (left side in FIG. 3) of the insertion portion 2a of the endoscope 2. The first slider 33 is biased by a spring 36 in the direction of arrow D (rightward in FIG. 3). As a result, the first slider 33 is held in contact with the end portions 31 a and 32 a of the levers 31 and 32.

  In addition, the endoscope holding device 21 of the present embodiment is provided with a non-excited electromagnetic brake 29 as a braking means at a joint portion 23d in the vicinity of the adapter 22 in the arm connection body 23. Here, the joint portion 23d rotates in a direction around an axis centering on a rotation axis in a direction perpendicular to the arm 23a with respect to the arm 23a by the bearings 25 and 26 fixed to the arm 23a and the bearings 25 and 26. And a shaft 24 that is freely supported. A concave adapter mounting portion 24a is formed on the end surface of the shaft 24 (upper end surface in FIG. 3). On the outer peripheral surface of the end portion of the shaft 24, a male screw portion 24b is formed. The female screw portion 11a of the adapter fixing ring 11 is detachably screwed to the male screw portion 24b. Then, as shown in FIG. 3, with the flange portion 22b1 inserted into the adapter mounting portion 24a of the shaft 24, the flange portion 22b1 of the adapter 22 is screwed into the male screw portion 24b so that the flange portion 22b1 of the adapter 22 is a joint portion. An detachable portion that is detachably connected to 23d is configured. Thereby, the adapter 22 is rotatably supported with respect to the arm 23a by the bearings 25 and 26 of the joint part 23d.

  A flange 27 for attaching an electromagnetic brake is fixed to the other end surface (lower end surface in FIG. 3) 24c of the shaft 24 of the joint portion 23d by a screw 28. The electromagnetic brake 29 has a leaf spring 29a, an armature 29b, and a stator 29c. The stator 29c incorporates a permanent magnet (not shown) and an internal coil.

  Here, the stator 29 c is fixed to the arm 23 a by a screw 30. Further, the armature 29b is supported by the flange 27 via the leaf spring 29a so as to be movable only in the axial direction of the shaft 24. The stator 29c attracts and fixes the armature 29b with the magnetic force of the permanent magnet when not energized, cancels the magnetic force of the permanent magnet with a magnetic field generated by an internal coil (not shown) when energized, and releases the attraction of the armature 29b.

  The push button switch 38 is disposed at a position corresponding to the rotation center position of the bearings 25 and 26 in the arm 23a so as to be opposed to the flange 27, and is fixed to the arm 23a. The push button switch 38 is connected to a brake control unit (not shown) via a cable and a connector (not shown).

  The brake control unit receives information from the output signal from the push button switch 38 and controls the brake 29 and brakes of other joints (not shown). When the push button switch 38 is pressed, the brake 29 and other brakes (not shown) are energized so as to be switched to a state in which they are released. In addition, when the push button switch 38 is not pressed, the brake is not energized so as to switch to a state in which these are fixed.

  The adapter 22 is formed with a guide hole 22f extending in a direction orthogonal to the moving direction of the first slider 33. Further, a guide hole 24 d extending in a direction orthogonal to the moving direction of the first slider 33 is formed in the axial center portion of the shaft 24 of the joint portion 23 d. A shaft-like second slider 34 is supported in the guide hole 22f of the adapter 22 so as to be linearly movable in the vertical direction (arrows F and E directions) in FIG. Similarly, a shaft-like third slider 35 is supported in the guide hole 24d of the shaft 24 so as to be linearly movable in the vertical direction (arrow H and G directions) in FIG. As a result, a second interlocking member that moves in a direction orthogonal to the first slider 33 is formed by the second slider 34 and the third slider 35.

  Ends 31 a and 32 a of the levers 31 and 32 are in contact with the first slider 33. The tapered surface 33 a of the first slider 33 is one end (upper end) of the second slider 34 and the other end (lower end) of the second slider 34 is one end of the third slider 35. Are in contact with the flange 35a of the portion (upper end portion). Here, the other end (lower end) of the third slider 35 faces a push button switch 38 as an input means.

  Further, a housing portion 24e having a diameter larger than that of the guide hole 24d is formed in the shaft center portion of the shaft 24. A spring 37 for biasing the flange 35a of the third slider 35 upward in FIG. 3 is housed in the housing portion 24e. By urging the flange 35a upward in FIG. 3 by the spring 37, the third slider 35 is urged in a direction away from the push button switch 38 (in the direction of arrow H in FIG. 3). Yes.

  The first slider 33, the second slider 34, and the third slider 35 constitute lever interlocking means for operating the push button switch 38 in conjunction with the movement of the levers 31 and 32.

  The levers 31 and 32 are normally biased in a direction away from the endoscope gripping portion 2b (in the direction of arrow B in FIG. 3) by a spring (not shown). It is held at a separated position away from the endoscope gripping part 2b. At this time, the first slider 33 is urged in the direction of arrow D (rightward in FIG. 3) by the spring 36, and the third slider 35 is separated from the push button switch 38 by the spring 37 (in FIG. 3). And in the direction of arrow H). As described above, when there is no external force applied to the levers 31 and 32, the push button switch 38 is set in a positional relationship that is not pressed by the third slider 35.

(Function)
Next, the operation of the above configuration will be described. When the endoscope holding apparatus 21 according to the present embodiment is used, first, as shown in FIG. 3, the joint portion 23 d to other joint portions (not shown) are covered with the sterilized drape 7. Thereafter, the adapter 22 and the arm connector 23 are connected by screwing the previously sterilized adapter 22 into the male screw portion 24b of the female screw portion 11a of the ring 11. In this connection, the second slider 34 of the adapter 22 abuts on the flange 35 a of the third slider 35 of the arm connector 23.

  Then, the endoscope 2 is connected to the adapter 22 by inserting the insertion portion 2 a of the endoscope 2 sterilized in advance into the endoscope mounting portion 22 a and tightening the fixing screw 8. In the above connection, the arm connector 23 in the range covered with the endoscope 2, the adapter 22, and the sterilized drape 7 is kept clean.

  Thereafter, when it is desired to move the endoscope 2 first, the grip portion 2b of the endoscope 2 is gripped through the levers 31 and 32. Then, the levers 31 and 32 move in the direction approaching the grip portion 2b (in the direction of arrow A in FIG. 3), and the end portions 31a and 32a of the levers 31 and 32 oppose the first slider 33 against the spring 36. Then, push it in the left direction (arrow C direction) in FIG. At this time, the tapered surface 33a of the first slider 33 pushes the second slider 34 of the adapter 22 downward in FIG. 3 (arrow E direction), and the second slider 34 of the adapter 22 is moved to the third slider 35. The flange 35a is pushed downward (arrow G direction) in FIG. As a result, the third slider 35 pushes the push button switch 38.

  At this time, information based on an output signal from the push button switch 38 is transmitted to a brake control unit (not shown). The brake control unit receives information from the output signal from the push button switch 38, energizes the brake 29 and other joint brakes (not shown), and releases the fixation. In this state, each joint portion can move, and the position of the endoscope 2 can be moved.

  Next, when the endoscope 2 is desired to be fixed, the hand holding the grip 2b of the endoscope 2 through the levers 31 and 32 is loosened. Then, the levers 31 and 32 move in a direction away from the grip portion 2b (B direction in FIG. 2) by a biasing force of a spring (not shown), and the end portions 31a and 31b of the levers 31 and 32 are also moved to the right in FIG. Retreat in the direction (arrow D direction). At this time, the first slider 33 moves to the right (in the direction of arrow D) in FIG. 3 by the urging force of the spring 36 by retracting the end portions 31a and 31b of the levers 31 and 32, and the tapered surface 33a is also moved. In FIG. 3, it retracts in the right direction (arrow D direction) and the upward direction (arrow F direction).

  The third slider 35 and the second slider 34 move in the H direction and the F direction by the biasing force of the spring 37 by the taper surface 33a retracting in the F direction, and the third slider 35 is a push button. The switch 38 is not pressed. At this time, information based on an output signal from the push button switch 38 is transmitted to a brake control unit (not shown). The brake control unit receives information from the output signal from the push button switch 38 and stops energizing and fixing the brake 29 and other joint brakes (not shown). In this state, each joint portion is fixed, and the position of the endoscope 2 is fixed.

  After the operation is finished, the fixing screw 8 is loosened and the endoscope 2 is removed from the adapter 22. Then, the ring 11 is loosened and the adapter 22 is removed from the arm connector 23. Finally, the drape 7 is removed from the arm coupling body 23. The endoscope 2 and the adapter 22 to be reused are put into disinfection / sterilization.

  When a new operation is performed, a new drape 7, a sterilized endoscope 2 and an adapter 22 are prepared, and the operation from the beginning of this description is performed.

(effect)
Therefore, in the present embodiment, in addition to the effects of the first embodiment, the push button switch 38 is provided on the arm coupling body 23 that is not cleaned and sterilized, and the push button switch 38 is operated from the levers 31 and 32 via the lever interlocking means. Therefore, the switch 38 is not deteriorated due to cleaning and sterilization. As a result, since the push button switch 38 does not need to be disposable, the running cost can be reduced.

[Third Embodiment]
(Constitution)
4A and 4B show a third embodiment of the present invention. This embodiment is a modification of the endoscope holding apparatus 1 according to the first embodiment (see FIGS. 1 and 2). In the present embodiment, in order to reduce the size and weight of the joint near the tip (tip) of the adapter that holds the medical device, the joint fixing brake is not in or near the joint but distal to the joint. For example, on the proximal end side of the arm. Furthermore, a transmission means for transmitting the rotation of the joint near the adapter to a brake disposed on the proximal end side of the arm is provided. In addition, about the same part as 1st Embodiment except the above, the same number is attached | subjected and description is omitted.

  FIG. 4A is a diagram showing details in the vicinity of a connection portion between the adapter 3 and the endoscope 2 of the endoscope holding device 41 of the present embodiment. The joint portion 42d in the vicinity of the adapter 3 in the arm coupling body 42 (corresponding to the arm coupling body 4 in FIG. 1) of the present embodiment includes a bearing 44, 45 fixed to the arm 42a, and these bearings 44, 45. The arm 42a has a shaft 43 that is supported so as to be rotatable about an axis about a rotation axis in a direction orthogonal to the arm 42a. A recessed adapter mounting portion 43a is formed on the upper end surface of the shaft 43 in FIG. A male screw portion 43 b is formed on the outer peripheral surface of the end portion of the shaft 43. The female thread portion 11a of the adapter fixing ring 11 is detachably screwed to the male thread portion 43b. Then, as shown in FIG. 4A, in the state where the flange portion 3b1 of the adapter 3 is inserted into the adapter mounting portion 43a of the shaft 43, the female screw portion 11a of the ring 11 is screwed into the male screw portion 43b so that the flange of the adapter 3 is inserted. The part 3b1 constitutes an attachment / detachment part that is detachably connected to the joint part 42d. Thereby, the adapter 3 is rotatably supported with respect to the arm 42a by the bearings 44 and 45 of the joint part 42d.

  A first pulley 46 as a rotating body is fixed to the lower end 43 c of the shaft 43 with a screw 47 in FIG. 4A. Further, while the adapter 3 is disposed at the distal end portion of the arm 42a, the brake housing portion 48 is disposed at a position distal to the joint portion 42d with respect to the adapter 3, for example, at the base end side of the arm 42a. It is installed.

  The brake accommodating part 48 has the 2nd pulley 52 as a rotary body, and the non-excitation type electromagnetic brake 55 as a braking means. A shaft 49 is disposed in the brake housing portion 48 in parallel with the shaft 43 of the joint portion 42d. The shaft 49 is rotatably supported with respect to the arm 42a by bearings 50 and 51 fixed to, for example, a fixed wall of the casing of the brake housing portion 48.

  A flange 49 a is provided at the upper end portion of the shaft 49, and the second pulley 52 is fixed to the lower end portion of the shaft 49 with a screw 53. Here, as shown in FIG. 4B, the first pulley 46 and the second pulley 52 are connected by an endless belt 54 as a belt-like transmission means. Thereby, when the 1st pulley 46 rotates, the transmission means 57 which the 2nd pulley 52 rotates via the belt 54 is comprised.

  The electromagnetic brake 55 includes a leaf spring 55a, an armature 55b, and a stator 55c. The stator 55c incorporates a permanent magnet and an internal coil (not shown). Here, the stator 55c is fixed to the fixed wall of the casing of the brake housing portion 48 by screws 56, for example. Further, the armature 55b is supported by the flange 49a of the shaft 49 through the leaf spring 55a so as to be movable only in the axial direction of the shaft 49. The stator 55c attracts and fixes the armature 55b with the magnetic force of the permanent magnet when not energized, cancels the magnetic force of the permanent magnet with the magnetic field generated by an internal coil (not shown) when energized, and releases the attraction of the armature 55b.

(Function)
Next, the operation of the above configuration will be described. When it is desired to move the endoscope 2 set in advance in the endoscope holding device 41 of the present embodiment, the grip 2b of the endoscope 2 is gripped through the levers 17 and 18. Then, the levers 17 and 18 push the push button switches 13 and 14. At this time, information based on output signals from the push button switches 13 and 14 is transmitted to a brake control unit (not shown) via the cable 15 and the connector 16.

  The brake control unit receives information that the push button switches 13 and 14 are pressed, and energizes the brake 55 in the storage unit 48. As a result, the stator 55c releases the suction of the armature 55b. Therefore, the armature 55b is separated from the stator 55c fixed in the storage portion 48, so that the second pulley 52 connected to the armature 55b via the leaf spring 55a and the shaft 49 becomes rotatable. At this time, the first pulley 46 coupled to the second pulley 52 via the belt 54 is also rotatable, and the fixation around the joint portion 42d including the shaft 43 and the adapter 3 connected thereto is released. As described above, the position of the endoscope 2 can be moved by allowing the joint portion 42d to move.

  Next, when it is desired to fix the position of the endoscope 2, the hand holding the grip 2 b of the endoscope 2 is loosened through the levers 17 and 18. Then, the levers 17 and 18 are moved to a position where the push button switches 13 and 14 are not pushed by a biasing force of a spring (not shown). Information based on output signals from the push button switches 13 and 14 is transmitted to a brake control unit (not shown) as described above. The brake control unit receives information that the push button switches 13 and 14 are not pressed, and stops energization of the brake 55 in the storage unit 48. Then, since the magnetic field that has canceled the magnetic force of the permanent magnet disappears, the magnetic force of the original permanent magnet works, and the stator 55c attracts the armature 55b.

  Since the armature 55b is attracted to the stator 55c fixed in the storage portion 48, the second pulley 52 connected to the armature 55b via the leaf spring 55a and the shaft 49 also becomes non-rotatable. In addition, the first pulley 46 connected to the second pulley 52 via the belt 54 is also non-rotatable, and the joint portion 42d including the shaft 43 and the adapter 3 connected thereto is fixed. As described above, the position of the endoscope 2 is fixed by fixing the joint portion 42d.

  In the present embodiment, only the joint portion 42d in the vicinity of the adapter 3 has been described, but other joint portions can be similarly configured. In the present embodiment, the transmission means 57 is constituted by the first pulley 46, the second pulley 52, and the belt 54, but the transmission means may be constituted by a combination of a pulley and a wire, or a sprocket. It may be a combination of a chain and the like. Note that the storage portion 48 for storing the electromagnetic brake 55 may be provided at an arbitrary position on the arm 42a, or may be provided in another joint portion.

(effect)
Therefore, in this embodiment, in addition to the effects of the first embodiment, the electromagnetic brake 55 for fixing the joint portion 42d is disposed at a position away from the endoscope 2 that is a medical instrument, for example, on the base end side of the arm 42a. Then, the rotation of the joint portion 42d is transmitted to the brake 55 by the transmission means 57. Therefore, the joint portion 42d around the endoscope 2 as a medical instrument can be reduced in size and weight, and can be configured so as not to interfere with the operation.

[Fourth Embodiment]
(Constitution)
5A and 5B show a fourth embodiment of the present invention. This embodiment is a modification of the endoscope holding device 41 of the third embodiment (see FIG. 4). In the endoscope holding device 41 according to the third embodiment, the transmission means including a combination of a pulley and a belt is shown. However, in this embodiment, the transmission means is changed to a transmission means using gears instead. . The other parts have the same configuration as that of the endoscope holding apparatus 41 of the third embodiment, and the same parts as those of the third embodiment are denoted by the same reference numerals, and the description thereof will be given here. Is omitted.

  FIG. 5A is a diagram showing details in the vicinity of a connection portion between the adapter 3 and the endoscope 2 of the endoscope holding device 61 according to the present embodiment. The joint portion 62d in the vicinity of the adapter 3 of the arm coupling body 62 (corresponding to the arm coupling body 42 of the third embodiment) of the endoscope holding device 61 of the present embodiment is a bearing 44 fixed to the arm 62a. , 45 and a shaft 43 supported by these bearings 44, 45 so as to be rotatable about an axis about a rotation axis in a direction perpendicular to the arm 62a with respect to the arm 42a. The shaft 43 is rotatably supported by the bearings 44 and 45 with respect to the arm 62a. Similarly to the third embodiment, the adapter 3 is inserted into the adapter mounting portion 43a at the upper end of the shaft 43, and the female threaded portion 11a of the ring 11 is screwed into the male threaded portion 43b. Is configured to be detachably coupled to the shaft 43.

  A first gear 63 is fixed to the lower end portion of the shaft 43 with a screw 64. Similarly to the third embodiment, the adapter 3 is disposed at the distal end of the arm 62a, whereas the adapter 3 is positioned farther from the joint 42d, for example, the proximal end of the arm 62a. A brake storage unit 65 (corresponding to the brake storage unit 48 of the third embodiment) is disposed on the side of the unit.

  The brake housing part 65 has a non-excitation electromagnetic brake 55 as a braking means. A shaft 49 is disposed in the brake housing portion 65 in parallel with the shaft 43 of the joint portion 62d. The shaft 49 is rotatably supported with respect to the arm 62a by bearings 50 and 51 fixed to a fixed wall of the casing of the brake housing portion 65, for example.

  The upper end portion of the shaft 49 includes a flange 49 a, and the second gear 66 is fixed to the lower end portion of the shaft 49 with a screw 67. Here, a plurality of, in the present embodiment, six intermediate gears 68a to 68f are interposed between the first gear 63 and the second gear 66 in a state where they are sequentially meshed. As a result, when the first gear 63 rotates, a transmission mechanism 69 of a gear mechanism is configured in which the second gear 66 rotates via the gears 68a to 68f.

(Function)
Next, the operation of the above configuration will be described. When it is desired to move the endoscope 2 set in advance in the endoscope holding device 61 of the present embodiment, the grip 2b of the endoscope 2 is gripped through the levers 17 and 18. Then, the levers 17 and 18 push the push button switches 13 and 14. At this time, information based on output signals from the push button switches 13 and 14 is transmitted to a brake control unit (not shown) via the cable 15 and the connector 16.

  The brake control unit receives information that the push button switches 13 and 14 have been pressed, and energizes the brake 55 in the storage unit 65. As a result, the stator 55c releases the suction of the armature 55b. Therefore, the armature 55b is separated from the stator 55c fixed in the housing portion 65, so that the second gear 66 connected to the armature 55b via the leaf spring 55a and the shaft 49 becomes rotatable. Further, the first gear 63 connected to the second gear 66 via the gears 68a to 68f can also be rotated, and the fixation around the joint portion 61d including the shaft 43 and the adapter 3 connected thereto is released. As described above, the position of the endoscope 2 can be moved by enabling the joint portion 61d to move.

  Next, when it is desired to fix the endoscope 2, the hand holding the grip 2 b of the endoscope 2 through the levers 17 and 18 is loosened. Then, the levers 17 and 18 are moved to a position where the push button switches 13 and 14 are not pushed by a biasing force of a spring (not shown). Information based on output signals from the push button switches 13 and 14 is transmitted to a brake control unit (not shown) as described above. The brake control unit receives information that the push button switches 13 and 14 are not pressed, and stops energization of the brake 55 in the storage unit 65. Then, since the magnetic field that has canceled the magnetic force of the permanent magnet disappears, the magnetic force of the original permanent magnet works, and the stator 55c attracts the armature 55b.

  Since the armature 55b is attracted to the stator 55c fixed in the housing portion 65, the second gear 66 connected to the armature 55b via the leaf spring 55a and the shaft 49 is also non-rotatable. In addition, the first gear 63 connected to the second gear 66 via the gears 68a to 68f also cannot rotate, and the joint portion 62d including the shaft 43 and the adapter 3 connected thereto is fixed. As described above, the position of the endoscope 2 is fixed by fixing the joint portion 62d.

(effect)
Therefore, in the above configuration, in addition to the effects of the third embodiment, since the transmission means 69 is configured by a gear mechanism, it is possible to prevent transmission deterioration due to belt elongation and the like, and to improve durability. it can.

Furthermore, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.
Next, other characteristic technical matters of the present application are appended as follows.
Record
(Additional Item 1) A holding unit that detachably holds a medical device including a gripping unit, an arm coupling body that is connected to the holding unit and that can be bent by connecting a plurality of arm units by joint units, and the joint Provided in the holding part, and provided in the holding part so as to cover at least a part of the surface of the holding part of the medical device. A lever movable in a direction approaching / separating from the gripping unit; and an input unit configured to release the braking unit by moving the lever in a direction approaching the gripping unit of the medical instrument. A medical device holding device.

  (Additional Item 2) The cleaning unit that can be cleaned and sterilized, the arm connection body that includes an electric switch as the input means, an attachment / detachment unit that attaches and detaches the arm connection body and the holding unit, and the arm connection The medical instrument holding apparatus according to claim 1, further comprising: cover means for covering the body; and lever interlocking means for operating the input means in conjunction with movement of the lever.

  (Additional Item 3) The lever interlocking means is different from at least the first interlocking member that moves in conjunction with the movement of the lever and the moving direction of the first interlocking member in conjunction with the movement of the first interlocking member. The medical holding device according to any one of claims 1 and 2, further comprising a second interlocking member that moves in a direction and operates the input means.

  (Additional Item 4) The first interlocking member includes a tapered surface, and the second interlocking member moves in a direction different from a moving direction of the first interlocking member by contacting the tapered surface. The medical holding device according to item 3, wherein the medical holding device is characterized.

  (Additional Item 5) The medical device holding apparatus according to Additional Items 1-4, wherein the medical device is an endoscope.

  (Additional Item 6) The medical device holding apparatus according to Additional Items 1-4, wherein the medical device is an ultrasonic probe.

  (Additional Item 7) A holding part that detachably holds a medical instrument, an arm connection body that is connected to the holding part and that can be bent by connecting a plurality of arm parts by joint parts, and rotation of the joint parts will be described later A medical device comprising: a transmitting device for transmitting to the braking device; and a braking device positioned distal to the position of the joint portion with respect to the medical device, and for switching between a fixed state and a released state of the transmitting device. Instrument holding device.

  (Additional Item 8) The medical instrument holding device according to Additional Item 7, wherein the transmission means is a belt-like transmission means that deformably transmits between at least two rotating bodies.

  (Additional Item 9) The medical instrument holding device according to Additional Item 8, wherein the rotating body is a pulley.

  (Additional Item 10) The medical instrument holding device according to Additional Item 8, wherein the rotating body is a sprocket.

  (Additional Item 11) The medical instrument holding device according to Additional Item 8, wherein the belt-shaped transmission means is a belt.

  (Additional Item 12) The medical instrument holding device according to Additional Item 8, wherein the belt-shaped transmission means is a wire.

  (Additional Item 13) The medical instrument holding device according to Additional Item 8, wherein the belt-like transmission means is a chain.

  (Additional Item 14) The medical instrument holding device according to Additional Item 7, wherein the transmission means is a gear.

(Prior art of additional items 1-5)
The holding device disclosed in Japanese Patent Laid-Open No. 2002-191545 is provided with a switch in a grip portion of a holding portion that holds an endoscope, and a brake that can be fixed / released in a joint portion, and the endoscope can be moved by pressing the switch. When the hand is released from the switch, the endoscope is fixed.

In the medical device support apparatus disclosed in Japanese Patent Laid-Open No. 2005-125056, two switches are provided in a holding portion that holds an endoscope, a brake that can be fixed / released is provided in a joint portion, and the endoscope is operated by pressing the two switches. The endoscope is fixed when it can be moved and is released from the switch.

(Prior Art of Additional Items 6-13)
The medical device support apparatus disclosed in Japanese Patent Application Laid-Open No. 2005-125056 is provided with a brake that can be fixed / released in a joint part near an endoscope holding part, and can change the posture near the endoscope. .

(Problems of the prior art of additional items 1 to 5)
As in JP-A-2002-191545 and JP-A-2005-125056, an endoscope for laparoscopic surgery is generally used by being attached to a holding part of an endoscope holding device. The endoscope holding device is provided with an electrical switch that switches the fixed state of the endoscope to electromagnetic lock or free. However, with the button-type changeover switch, depending on the posture and how the surgeon holds the endoscope, the changeover switch is in a position that is difficult to press, and operability is not preferable.

  Further, the changeover switch is generally provided in the vicinity of a holding portion that is highly likely to be contaminated during use. Therefore, when the holding unit has an electrical changeover switch, it has been extremely difficult to clean and sterilize the holding unit of the holding device after use. For this reason, in practice, the holding part is generally used with a sterilized cover (drape) covered, and it is easy to slide from the top of the drape, and the operability of the switch is not preferable.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a medical instrument holding device that can always perform a movement and fixing operation of a medical instrument in a good state regardless of a gripping posture and a gripping method.

  It is another object of the present invention to provide a medical instrument holding device that can easily clean and sterilize a holding part that holds a medical instrument.

(Problems of the prior art in additional items 6 to 13)
As disclosed in Japanese Patent Application Laid-Open No. 2005-125056, a brake that performs fixing / releasing braking of a joint portion is generally arranged in or near the joint portion to be fixed. However, if a brake is provided in or near the joint near the holding portion (tip) that holds the endoscope, the size of the endoscope becomes large, which hinders surgery. Further, in the case of a counter balance type holding device, there is a problem that the counter weight for balancing becomes large when the tip portion becomes heavy, which is not preferable.

  It is an object of the present invention to provide a medical instrument holding device that is easy to operate even if there is a joint part that is fixed / released by a brake near the distal end part that holds the medical instrument. Objective.

  INDUSTRIAL APPLICABILITY The present invention is effective in a technical field using a medical instrument holding device that holds a medical instrument such as an endoscope used in surgery on behalf of an operator, and a technical field for manufacturing the same.

    DESCRIPTION OF SYMBOLS 2 ... Endoscope (medical instrument), 2b ... Grasp part, 3 ... Adapter (holding part), 4a, 4b, 4c ... Arm part, 4d, 4e, 4f, 4g ... Joint part, 4 ... Arm connection body, 12 ... switch unit (input means), 17, 18 ... lever, 29 ... electromagnetic brake ().

Claims (14)

A holding part for detachably holding a medical instrument provided with a gripping part;
An arm connector that is connected to the holding unit, connects a plurality of arm units by joints, and is bendable;
Braking means provided at the joint, and for switching between a fixed state and a released state of the joint,
A lever that is provided in the holding part so as to cover at least a part of the grip part surface of the medical device, and is movable in a direction of contacting and separating with respect to the grip part of the medical device by an operator's operation;
An apparatus for holding a medical instrument, comprising: an input unit configured to switch the braking unit to a released state by moving the lever in a direction approaching a grip portion of the medical instrument. The holding part can be cleaned and sterilized,
The arm coupling body includes an electrical switch as the input means,
And the attachment / detachment part which attaches / detaches the said arm coupling body and the said holding | maintenance part,
Cover means for covering the arm connection body;
The medical instrument holding device according to claim 1, further comprising lever interlocking means for operating the input means in conjunction with movement of the lever. The lever interlocking means includes at least a first interlocking member that moves in conjunction with movement of the lever;
The second interlocking member moves in a direction different from the moving direction of the first interlocking member in conjunction with the movement of the first interlocking member, and operates the input means. The medical instrument holding device according to claim 2.   The first interlocking member includes a tapered surface, and the second interlocking member moves in a direction different from the moving direction of the first interlocking member by contacting the tapered surface. The medical holding device according to claim 3.   The medical instrument holding apparatus according to claim 1, wherein the medical instrument is an endoscope.   The medical instrument holding apparatus according to claim 1, wherein the medical instrument is an ultrasonic probe. A holding unit for detachably holding the medical device;
An arm connector that is connected to the holding unit, connects a plurality of arm units by joints, and is bendable;
With respect to the medical instrument, a braking means that is disposed at a position away from the position of the joint portion, and switches between a fixed state and a released state of the transmission means;
A medical device holding apparatus comprising: a transmission unit configured to transmit rotation of the joint portion to the braking unit.   The medical device holding apparatus according to claim 7, wherein the transmission means is a belt-like transmission means that deformably transmits between at least two rotating bodies.   The medical device holding apparatus according to claim 8, wherein the rotating body is a pulley.   The medical device holding apparatus according to claim 8, wherein the rotating body is a sprocket.   The medical instrument holding apparatus according to claim 8, wherein the belt-shaped transmission means is a belt.   The medical instrument holding apparatus according to claim 8, wherein the belt-shaped transmission means is a wire.   The medical device holding apparatus according to claim 8, wherein the belt-shaped transmission means is a chain.   The medical device holding apparatus according to claim 7, wherein the transmission unit is a gear.

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