JP2015065989A - Grasping instrument, needle holder and attachment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a needle holder and an attachment that can grasp a surgical needle and move it in a vertical tangential direction stably and efficiently in a narrow space, etc.SOLUTION: A needle holder 1 includes a first arm rotation member 111 having a first holding arm part 12A that is rotatable around a rotating shaft 15; a second arm rotation member 112 having a second holding arm part 12B that is rotatable around the rotating shaft 15; a first holding arm driving member 201 for rotating the first arm rotation member 111; a second holding arm driving member 202 for rotating the second arm rotation member 112; a first driving part 30 for opening/closing the first holding arm part 12A, and the second holding arm part 12B; and a second driving part 50 for rotating a pair of holding arm parts 12 around the rotating shaft 15.

Description

  The present invention provides a grasper capable of stably and efficiently handling an object in a vertical tangential direction and a suture needle in a narrow space or the like, and stably and efficiently moving a suture needle in the vertical tangential direction. The present invention relates to a needle holder that can be used, a gripper, and an attachment for constituting the needle holder.

As is well known, in surgical operations, grasping, drilling, suturing, etc. of a living body is required under various environmental conditions including a narrow space. For this purpose, graspers such as forceps and needle holders (For example, refer to Patent Document 1 and Non-Patent Document 1).
When performing a suturing procedure using such a needle holder, for example, the suture needle is grasped in a direction perpendicular to the longitudinal direction of the needle holder (hereinafter sometimes referred to as a lateral direction) and moved in the lateral direction. It is common.

  On the other hand, in recent years, in the field of surgery, minimally invasive surgery that requires endoscopic surgery is increasing, and in minimally invasive surgery, efficient grasping operations and efficient suture techniques in a narrow visual field can be performed. is necessary.

  In order to perform an efficient minimally invasive operation in such a narrow space targeted by such a narrow visual field, for example, a technique such as grasping or drilling a living body is accurately performed, or a suture needle is placed in the longitudinal direction of the needle holder It is necessary to perform an appropriate procedure according to the condition of the operative field, such as moving the needle (hereinafter sometimes referred to as the vertical tangential direction).

  Flexible gripping with a gripper when changing the posture of an object in such a pinched space, switching, etc., and moving the needle in the vertical tangential direction with the needle holder are not easy, and it is possible to move the suture needle in the vertical tangential direction. Possible grippers and needle holders have been developed, and efficient minimally invasive surgery in a narrow visual field has entered a practical stage (see, for example, Patent Document 2).

Japanese Patent Laid-Open No. 8-038492 JP 2013-11111 A

http://en.wikipedia.org/wiki/%E6%8C%81%E9%87%9D%E5%99%A8

  The gripper and the needle holder described in Patent Document 2 can change the posture of the object in the pinched space and move the needle in the vertical tangential direction. It can be said that it is preferable to more stably and easily move the needle in the vertical tangential direction in order to efficiently perform the minimally invasive surgery.

  Therefore, the inventors can easily and stably grasp an object such as a suture needle in a narrow space and stably and efficiently handle the object in the vertical tangential direction according to the situation of the surgical field. As a result of earnest research on grippers (needle holders) with high operability that enable appropriate handling of needles and the like, the force applied to the pinching mechanism when pinching an object It has been found that the operability can be greatly improved by adopting a configuration that hardly influences the drive mechanism that changes the posture.

  The present invention has been made in consideration of such circumstances, and in a narrow space or the like, an object such as a suture needle can be easily and stably grasped, and the object can be stably and efficiently in the vertical tangential direction. An object of the present invention is to provide a gripper capable of being operated, a needle holder capable of stably and efficiently moving a suture needle in a vertical tangential direction, and an attachment for constructing these grippers. .

In order to solve the above problems, the present invention proposes the following means.
The invention according to claim 1 is a gripper for gripping an object, and has a first holding arm portion for holding the object, and is capable of rotating around a support shaft. And a second arm that is paired with the first clamping arm unit and has a second clamping arm unit that clamps the object in cooperation with the first clamping arm unit and is rotatable about a support shaft. A rotating member; a first arm driving member connected to the first arm rotating member for rotating the first arm rotating member; and a second arm rotating member connected to the second arm rotating member. A second arm driving member for rotating the moving member; and by rotating the first arm rotating member and the second arm rotating member via the first arm driving member and the second arm driving member. , A first for opening and closing the first clamping arm and the second clamping arm And the dynamic part, the axis parallel or perpendicular to around shaft rotation which is formed in a direction of the support shaft, characterized in that it comprises a second drive unit for rotating the pair of holding arm.

According to the gripper according to the present invention, the first arm rotating member having the first holding arm portion and the second arm rotating member having the second holding arm portion are the first arm driving member and the second arm rotating member, respectively. The object is connected to the first drive unit via the arm drive member, and the first drive unit is operated to rotate the first arm rotation member and the second arm rotation member around the support shaft. (In the case of a needle holder, a suture needle, the same applies hereinafter).
Then, by operating the second drive unit, the pair of clamping arm units are rotated around the rotation axis formed in a direction parallel to or orthogonal to the axis of the support shaft, so the first clamping arm unit and the second clamping unit unit The clamping force when the object is clamped by the clamping arm unit acts between the pair of clamping arm units and the rotation shaft as a thrust force that inhibits the pair of clamping arm units from rotating. It is suppressed. As a result, the object can be stably and efficiently moved in the vertical tangential direction, or can be stably and efficiently moved.
In this specification, the object includes a living body (including a part), a tissue, a perforation device, an incision device, a suture needle, and the like.

  A second aspect of the present invention is the gripper according to the first aspect, wherein the first arm driving member includes a first connecting portion that generates a rotating torque on the first arm rotating member and the first arm. 1 drive part is connected, The said 2nd arm drive member connects the 2nd connection part and the said 1st drive part which produce a rotation torque to the said 1st arm rotation member, The said 1st drive part Opens and closes the first and second clamping arm portions by moving the first and second arm driving members in the same direction relative to the pair of clamping arm portions. It is comprised so that it may do.

  According to the gripper according to the present invention, the first arm driving member connects the first connecting portion and the first driving portion that generate the rotating torque to the first arm rotating member, and the second arm driving member is The first connecting part is connected to the second connecting part for generating the turning torque on the first arm turning member, and the first driving part holds the pair of the first arm driving member and the second arm driving member. By moving forward and backward in the same direction with respect to the arm portion, the first and second sandwiching arm portions are opened and closed, so that the structure is simple and the first and second sandwiching arm portions can be easily and easily opened and closed. It becomes possible to open and close stably.

  A third aspect of the present invention is the gripper according to the first or second aspect, wherein the first driving unit is the pair of clamping arm units of the first arm driving member and the second arm driving member. And a holding arm posture holding member for holding a relative posture between the first holding arm portion and the second holding arm portion while holding a forward / backward position with respect to the first holding arm portion.

  According to the gripper according to the present invention, the first driving unit holds the first and second holding arm units and the second holding unit by holding the advancing and retracting positions of the first arm driving member and the second arm driving member with respect to the pair of holding arm units. Since the holding claw posture holding member that holds the positions of the holding arm portions is provided, the open / closed state of the first holding arm portion and the second holding arm portion can be held following the opening / closing operation of the first holding arm portion and the second holding arm portion. Therefore, it is possible to easily and stably hold and hold the object by the first holding arm portion and the second holding arm portion.

  Invention of Claim 4 is a holding device of any one of Claims 1-3, Comprising: A pair of said clamping arm part is a rotating shaft parallel to the axis line of the said support shaft. The second drive unit can rotate the pair of sandwiching arm units by moving the first arm drive member and the second arm drive member in opposite directions to each other. It is configured to rotate around the axis of the dynamic axis.

  According to the gripper according to the present invention, the pair of sandwiching arm portions are configured to be rotatable around a rotation shaft formed in parallel with the axis of the support shaft, and the second drive portion is configured to drive the first arm. By moving the member and the second arm driving member back and forth in opposite directions, the pair of sandwiching arm portions are rotated around the pivot shaft, so the structure is simple and the pair of sandwiching arm portions can be easily and stably operated. Can be rotated around the rotation axis.

  Invention of Claim 5 is a holding device of any one of Claims 1-3, Comprising: The said pair of clamping arm part was formed orthogonally to the axis line of the said support shaft. The second drive unit is configured to be rotatable about an axis of a rotation axis, and the second drive unit includes the first arm drive member and the second arm so that the holding arm unit is rotated about the rotation axis. The drive member is configured to advance and retract.

  According to the gripper according to the present invention, the pair of sandwiching arm portions are configured to be rotatable around a rotation shaft formed orthogonal to the axis of the support shaft, and the second drive unit is configured to be the first arm. By moving the drive member and the second arm drive member back and forth in opposite directions, the pair of sandwiching arm portions are rotated around the rotation shaft, so the structure is simple and the pair of sandwiching arm portions are easily and stably Thus, it can be rotated around the rotation axis.

  Invention of Claim 6 is an attachment, Comprising: It is used for the holding device of any one of Claims 1-5, The 1st arm rotation member, The 2nd arm rotation member, The first arm rotation member and the second arm rotation member each include a detachable connecting portion with respect to the first arm rotation member and the second arm drive member, respectively. To do.

According to the attachment according to the present invention, the first arm rotating member and the second arm rotating member are each provided with a detachable connecting portion with respect to the first arm rotating member and the second arm driving member, Since the first arm rotating member and the second arm driving member can be easily and efficiently exchanged, the first arm rotating member and the second arm rotating member are made disposable, and the sanitary condition in the operation can be improved. Can be secured.
The attachment may include a rotation shaft and a connection member in addition to the first arm rotation member and the second arm rotation member. When the connection member is provided, the attachment is provided via the connection member. You may connect with a 1st arm rotation member and a 2nd arm drive member.

  Invention of Claim 7 is a needle holder, Comprising: The object clamped by the said 1st clamping arm part and the said 2nd clamping arm part in the holding device of any one of Claims 1-6 The object is a suture needle.

  According to the needle holder according to the present invention, the suture needle is stably held by the first clamping arm portion and the second clamping arm portion, and the needle is stably and efficiently moved in the vertical tangential direction in a narrow space or the like. Can do. As a result, stitching in a narrow space can be performed efficiently in a short time.

According to the gripper according to the present invention, an object can be stably and efficiently handled in a vertical tangential direction in a narrow space.
Further, according to the needle holder according to the present invention, it is possible to move the needle stably and efficiently in a narrow space.
Moreover, according to the attachment which concerns on this invention, since a 1st arm rotation member and a 2nd arm rotation member can be replaced | exchanged easily and efficiently, the sanitary state in an operation is ensured by making it disposable. can do.

It is a front view which shows schematic structure of the needle holder which concerns on one Embodiment of this invention. It is a top view showing a schematic structure of a needle holder concerning one embodiment of the present invention. It is a top view which shows the detailed structure of the 1st drive part of the needle holder which concerns on one Embodiment of this invention. It is a figure which shows schematic structure of the 2nd drive part of the needle holder which concerns on one Embodiment of this invention, and is a figure explaining the IV-IV cross section in FIG. It is a figure explaining the outline of operation | movement of the clamping part in the needle holder which concerns on one Embodiment, (A) is a figure which shows the state in which a pair of clamping arm part is closed and rotated, (B) is a pair. It is a figure which shows the state which opens and rotates the clamping arm part. It is a figure explaining the outline of operation | movement of the needle holder which concerns on one Embodiment, (A) is a state where a pair of clamping arm part was opened, (B) is a state where a pair of clamping arm part was closed, ( (C) is a diagram illustrating a state in which a pair of sandwiching arm portions are rotated to one side, and (D) is a diagram illustrating a state in which a pair of sandwiching arm portions is rotated to the other side. It is a perspective view which shows the state which clamped the suture needle | hook with the holding device which concerns on one Embodiment of this invention. It is a figure which shows the state which stabbed the suture needle | hook into the 1st biological tissue with the needle holder which concerns on one Embodiment of this invention. It is a figure which shows the state which protruded the suture needle | hook from the 1st biological tissue with the holding device which concerns on one Embodiment of this invention. It is a perspective view which shows an example of the state which sewn the biological tissue with the holding device which concerns on one Embodiment of this invention. It is a figure explaining an example in case the attitude | position of a biological tissue is changed with the holding device which concerns on one Embodiment of this invention.

  Hereinafter, a needle holder (gripper) according to an embodiment of the present invention will be described with reference to FIGS. 1 to 8. FIG. 1 is a diagram illustrating a schematic configuration of a needle holder according to an embodiment. Reference numeral 1 denotes a needle holder, and reference numeral 100 denotes a suture needle (object) handled by the needle holder 1.

As shown in FIGS. 1 and 2, the needle holder 1 includes a clamping unit 10, a clamping arm drive member 20, a first drive unit 30, a second drive unit 50, and a needle holder body 60. For example, the suture needle 100 is sandwiched as an object and can be moved in the vertical tangential direction.
In place of the needle holder, the object may be used as a grasping device for grasping a living body (including a part), a tissue, a perforation device, an incision device, or the like.

  The holding unit 10 includes a pair of arm turning members 11 having a first arm turning member 111 and a second arm turning member 112, a turning shaft (support shaft) 15, and a holding holder 10D. .

  The first arm rotation member 111 and the second arm rotation member 112 can be independently rotated about the rotation shaft 15 as a support shaft, and can be opened and closed with respect to the rotation shaft 15. . Further, the pair of arm rotation members 11 are rotatable around the rotation shaft 15. That is, the rotation shaft 15 is configured to share the axis with the support shaft.

The first arm turning member 111 has a first holding arm portion 12A for holding an object, and a turning shaft hole 111A into which the turning shaft 15 is inserted, and a connecting hole (first connecting portion) 111B are formed. Has been.
Further, a first clamping claw portion 14A for efficiently clamping an object is formed at the distal end portion of the first clamping arm portion 12A.

The second arm rotating member 112 has a second holding arm portion 12B that holds an object, and is connected to a rotating shaft hole 112A into which the rotating shaft 15 common to the first arm rotating member 111 is inserted. A hole (second connecting portion) 112B is formed.
Moreover, the 2nd clamping nail | claw part 14B for efficiently clamping an object is formed in the front-end | tip part of the 2nd clamping arm part 12B.
Moreover, 12 A of 1st clamping arm parts and 12 A of 2nd clamping arm parts are formed in the arm length which can clamp a target object firmly.

The first arm rotation member 111 and the second arm rotation member 112 are configured to rotate around the rotation shaft 15 to open and close each other. The sandwiching arm portion 12B cooperates to sandwich the object as a pair of sandwiching arm portions 12.
In addition, the first clamping claw portion 14A and the second clamping claw portion 14B constitute a pair of clamping claw portions 14 that act in cooperation.

  The sandwiching holder 10D is formed on the proximal end side of the sandwiching portion 10, and the rotation shaft 15 is fitted and inserted into the protection pipe 65 of the needle holder body 60 from the distal end side, and the protection pipe 65 is secured by a screw 65A. On the other hand, it is detachably attached.

  The sandwiching arm drive member 20 is configured to connect the pair of arm rotation members 11 constituting the sandwiching unit 10 and the first drive unit 30, and transmits an operation by the first drive unit 30 to the sandwiching unit 10. At the same time, the second drive unit 50 is configured to transmit an operation for changing the posture of the first drive unit 30 to the clamping unit 10.

The sandwiching arm drive member 20 includes a first sandwiching arm drive member 201 and a second sandwiching arm drive member 202.
The first clamping arm driving member 201 is connected to the first arm rotating member 111 and is configured to be able to rotate the first arm rotating member 111 around the rotating shaft 15.
The second holding arm driving member 202 is connected to the second arm rotating member 112 so that the second arm rotating member 112 can be rotated around the rotating shaft 15.

  In this embodiment, as shown in FIG. 1, the sandwiching arm drive member 20 includes a first drive link 21, a second drive link 22, and a second drive link 22 that are sequentially arranged from the sandwiching unit 10 toward the first drive unit 30. The third drive link 23, the fourth drive link 24, and the fifth drive link 25 are provided corresponding to the first sandwiching arm drive member 201 and the second sandwiching arm drive member 202, respectively.

  As shown in FIG. 1, the first clamping arm drive member 201 includes a first drive link 211, a second drive link 221, a third drive link 231, a fourth drive link 241, and a fifth drive link 251. And the displacement when the first drive unit 30 is operated can be transmitted to the first arm rotation member 111.

  The first drive link 211 has a connection hole 211 </ b> A formed at one end side and a connection hole 211 </ b> B formed at the other end side, and the connection hole 211 </ b> A is rotatable with the connection hole 111 </ b> B of the first arm rotation member 111. It is connected to.

  The second drive link 221 has a connection hole 221A formed on one end side and a connection hole 221B formed on the other end side. The connection hole 221A is connected to the fulcrum 201A by an E-ring stopper pin (not shown). The first drive link 211 and the second drive link 221 are easily connected to and detached from the connection hole 211B of the first drive link 211. Whether or not the E-ring stopper pin is applied can be arbitrarily set.

  The third drive link 231 has a connection hole 231A formed on one end side and a connection hole 231B formed on the other end side. The connection hole 231A rotates with the connection hole 221B of the second drive link 221 at the fulcrum 201B. It is connected freely.

  The fourth drive link 241 has a rotation shaft hole 241A formed at one end side, and can be rotated around the rotation shaft hole 241A, and a connection hole 241B is provided at an intermediate position between the one end side and the other end side. The connecting hole 241C is formed on the other end side. The connection hole 241B is rotatably connected to the connection hole 231B of the third drive link 231 at the fulcrum 201C.

  The fifth drive link 251 has a connection hole 251A formed on one end side and a connection hole 251B formed on the other end side. The connection hole 251A rotates with the connection hole 241B of the fourth drive link 241 at the fulcrum 201D. It is connected freely. Further, the connection hole 251 </ b> B is connected to the transmission member 33.

  As shown in FIG. 1, the second holding arm drive member 202 includes a first drive link 212, a second drive link 222, a third drive link 232, a fourth drive link 242, and a fifth drive link 252. It is comprised so that the displacement at the time of operating the 1st drive part 30 can be transmitted to the 2nd arm rotation member 112.

  The first drive link 212 has a connection hole 212A formed on one end side and a connection hole 212B formed on the other end side. The connection hole 212A is formed by an E-ring stopper pin (not shown) at the fulcrum 10B. The second arm rotation member 112 is rotatably connected to the connection hole 112B.

  The second drive link 222 has a connection hole 222A formed on one end side and a connection hole 222B formed on the other end side. The connection hole 222A is formed by an E-ring stopper pin (not shown) at a fulcrum 202A. The first drive link 212 is connected to the connection hole 212B of the first drive link 212 so as to be freely rotatable, and the first drive link 212 and the second drive link 222 can be easily attached and detached.

  The third drive link 232 has a connection hole 232A formed on one end side and a connection hole 232B formed on the other end side, and the connection hole 232A rotates with the connection hole 222B of the second drive link 222 at the fulcrum 202B. It is connected freely.

  The fourth drive link 242 is formed with a rotation shaft hole 242A on one end side and can be rotated about the rotation shaft hole 242A, and a connection hole 242B is provided at an intermediate position between the one end side and the other end side. The connecting hole 242C is formed on the other end side. The connection hole 242B is rotatably connected to the connection hole 232B of the third drive link 232 at the fulcrum 202C.

  The fifth drive link 252 has a connection hole 252A formed on one end side and a connection hole 252B formed on the other end side. The connection hole 252A rotates with the connection hole 242B of the fourth drive link 242 at the fulcrum 202D. It is connected freely. The connection hole 252B is connected to the transmission member 33.

As described above, the first clamping arm driving member 201 and the second clamping arm driving member 202 are configured by the link mechanism including the first driving link 21 to the fifth driving link 25, so that It is possible to easily and stably absorb the change in the relative posture between the first drive unit 30 and the second drive unit 50. As a result, the operation of the first drive unit 30 and the operation of the second drive unit 50 can be performed. Thus, it is possible to stably and surely transmit to the clamping unit 10.
Further, in this embodiment, the first sandwiching arm portion 12A and the second sandwiching arm portion 12B rotate around the pivot shaft 15 within a range of, for example, ± 60 ° (total 120 °) to change the posture. Be able to.

  As shown in FIGS. 1 to 3, the first drive unit 30 includes, for example, a support shaft 31, a piston member 32 that can be moved forward and backward toward the support shaft 31, and a position at which the piston member 32 is advanced and retracted. Is provided with a transmission member 33 that transmits the movement to the clamping arm drive member 20, a control link 35, and an operation wheel 39 that adjusts the opening and closing of the clamping unit 10 by a turning operation.

  Then, the first drive unit 30 rotates the operation wheel 39 to change the posture of the control link 35, so that the control link 35 connected to the rear part of the piston member 32 adjusts the advance / retreat amount of the piston member 32. By doing so, the first and second clamping arm portions 12A and 12B are opened and closed.

  The support shaft 31 is inserted into the rotation shaft hole 241A of the fourth drive link 241 and the rotation shaft hole 242A of the fourth drive link 242, and the fourth drive link 241 and the fourth drive link 242 are inserted into the rotation shaft hole. 241A and the center of the rotation shaft hole 242A, that is, the support shaft 31 is rotatably supported.

The piston member 32 is formed in, for example, a substantially cylindrical shape, is accommodated in the second drive unit 50, and can be advanced and retracted in the longitudinal direction with respect to the support shaft 31.
Further, the piston member 32 is configured to retain the relative positional relationship with the second drive unit 50, that is, the advance / retreat amount with respect to the support shaft 31 even when the second drive unit 50 is operated. .

  For example, the transmission member 33 has a substantially rectangular parallelepiped shape in which a connection piece 331 is formed on one end side and a connection piece 332 is formed on the other end side, and is transmitted to an intermediate position between the connection piece 331 and the connection piece 332. The piston member 32 is inserted in a direction orthogonal to the longitudinal direction of the member 33. Moreover, the transmission member 33 and the piston member 32 are connected by the connection pin 33P, and the transmission member 33 and the piston member 32 can move integrally.

The connecting piece 331 is formed with a connecting hole 331A, and the connecting piece 332 is formed with a connecting hole 332A.
The connecting hole 331A is rotatably connected to the connecting hole 251B of the fifth drive link 251 at the fulcrum 301A.
Further, the connection hole 332A is rotatably connected to the connection hole 252B of the fifth drive link 252 at the fulcrum 302A.

  The control link 35 includes, for example, a first control link 36, a second control link 37, and a third control link 38. One end side of the first control link 36 is attached to the second drive unit 50, and the other end side. A connection hole 36B is formed in the contact hole 36B.

  The second control link 37 has a connection hole 37A formed at one end side and a connection hole 36B formed at the other end side. The connection hole 37A rotates with the connection hole 36B of the first control link 36 at a fulcrum 35A. It is connected freely.

  The third control link 38 is formed in a substantially L shape in a plan view having a first arm 381 and a second arm 382 connected orthogonally to the first arm 381, and one end side of the first arm 381. A connection hole 38A is formed at the intermediate position from the connection hole 38A to the second arm 382.

The connection hole 38A is rotatably connected to the connection hole 37B of the second control link 37 at the fulcrum 35B, and the connection hole 38B is connected to the connection hole 32R formed at the rear end of the piston member 32 at the fulcrum 35C. Has been.
Further, the third control link 38 is formed with a pressing portion adjusting portion 382A that bulges toward the opposite side to the first arm 381 on the distal end side (side away from the first arm 381) of the second arm 382. ing.

  The operation wheel 39 includes a wheel main body 39A, a screw portion 39B formed to protrude from the center of the wheel main body 39A, and a screw hole plug 39C for mounting the operation wheel 39 to the needle holder main body 60. The tip of the threaded portion 39B comes into contact with a recess formed in the pressing portion adjusting portion 382A of the third control link 38.

Then, by manually rotating the wheel main body 39A, the third control link 38 is rotated around the fulcrum 35B and the position of the fulcrum 35C is displaced, whereby the piston member 32 is moved with respect to the support shaft 31. Have come and go.
As a result, the first clamping arm driving member 201 and the second clamping arm driving member 202 open and close the first clamping arm portion 12A and the second clamping arm portion 12B.

  Further, the threaded portion 39B of the operation wheel 39 constitutes a holding arm posture holding member, and when the wheel main body 39A is rotated clockwise and the piston member 32 is advanced and retracted, the wheel main body 39A is held at that position and is not suitable. It is suppressed that it rotates in preparation. As a result, the first sandwiching arm portion 12A and the second sandwiching arm portion 12B are restrained from rotating in the opening direction, and the object can be securely sandwiched.

Further, for example, a trapezoidal screw is applied to the screw portion 39B, and the operation wheel 39 is attached to the needle holder main body 60 by attaching the screw portion 39B to the screw hole formed on the inner periphery of the screw hole plug 39C. It is possible to install.
The screw hole plug 39C is formed with a screw hole corresponding to the screw part 39B on the inner periphery and a screw part for attaching to the needle holder body 61 on the outer periphery.

  As shown in FIGS. 1 to 4, the second drive unit 50 includes a piston rotation member 51 that holds the piston member 32 that constitutes the first drive unit 30 around the support shaft 31, and a connecting member. 55 and an operation lever 56, and the operation lever 56 is operated to rotate the piston rotation member 51 around the support shaft 31, thereby changing the direction of the piston member 32, and a pair of clamping arm portions 12 directions can be rotated around the rotation shaft 15.

As shown in FIG. 4, the piston rotating member 51 includes a piston member accommodating portion 52 that accommodates the piston member 32 so as to be able to advance and retract, and a torque arm portion 53, and the support shaft 31 is inserted through a bearing 54B. A rotation hole 54 is formed.
Further, the torque arm portion 53 is formed with a connecting hole 53A, and a connecting member 55 is connected to the connecting hole 53A.

  As shown in FIG. 4, when the torque arm portion 53 is rotated in the direction of the arrow R53R, the piston rotating member 51 rotates the piston member housing portion 52 and the piston member 32 in the direction of the arrow R51. When 53 is rotated in the direction of arrow R53F, the piston member housing portion 52 and the piston member 32 are rotated in the direction of arrow R52.

As shown in FIG. 4, when the torque arm portion 53 is rotated in the direction of the arrow R53R and the piston member housing portion 52 and the piston member 32 are rotated in the direction of the arrow R51, FIGS. As shown in (B), the second drive link 221 moves in the direction of the arrow T2, the second drive link 222 moves in the direction of the arrow T1, and the pair of sandwiching arm portions 12 are rotated in the direction of the arrow R10. .
Here, FIG. 5A shows a state where the pair of sandwiching arm portions are closed and rotated, and FIG. 5B shows a state where the pair of sandwiching arm portions are opened and rotated.

  Further, when the torque arm portion 53 is rotated in the arrow R53F direction and the piston member housing portion 52 and the piston member 32 are rotated in the arrow R52 direction, the second drive link 221 moves in the arrow T1 direction, The drive link 222 moves in the direction of arrow T2, and the pair of sandwiching arm portions 12 is rotated in the direction of arrow R20.

  The connecting member 55 has a connecting hole 55A formed on one end side and a connecting hole 55B formed on the other end side. The connecting hole 55A is connected to the connecting hole 53A of the torque arm portion 53 at a fulcrum 50A. Yes.

The operation lever 56 includes an operation unit 561 and a lever main body 562.
The operation portion 561 has an annular portion that is formed in an annular shape and catches the index finger, and a curved arm portion 561A is formed to extend from the annular portion. The operation lever 56 can be easily operated.
The lever main body 562 has a connection hole 56A formed on one end side, a rotation hole 56B formed at an intermediate position of the lever main body 562, and the rotation hole 56B is connected to the needle holder main body 60. .

  Further, the connecting hole 56A is connected to the connecting hole 55B of the connecting member 55 at the fulcrum 50B, and when the operating portion 561 is rotated about the rotating hole 56B by manual operation, the rotating hole 56B is set as the center. The lever main body 562 rotates to rotate the torque arm 53 through the connecting member 55, thereby rotating the piston member housing 52 and the piston member 32 around the support shaft 31.

  The needle holder main body 60 includes a casing 61, a protective pipe 65, and a grip member 68 for an operator to stably hold the needle holder 1, and the needle holder main body 60 is sandwiched inside the needle holder main body 60. The main parts of the arm drive member 20, the first drive part 30, and the second drive part 50 can be accommodated so as not to be damaged by an external force.

  The casing 61 is in the form of a substantially rectangular parallelepiped that can substantially accommodate members other than the operation units (the operation wheel 39 and the operation lever 56) of the first drive unit 30 and the second drive unit 50. A mounting port 61H to which the operation wheel 39 can be mounted is formed in the part.

In this embodiment, the mounting port 61H has a screw hole plug 39C mounted on the mounting port 61H located on the left side when the operator operates, and the operation wheel 39 is attached to the screw hole plug 39C and the right side. The mounting port 61H located at is closed by a plug 39D and is configured to be right-handed.
With this configuration, the left-handed needle holder 1 with the operation wheel 39 mounted on the right side can be easily configured.

Further, the upper portion of the casing 61 is formed with an inclined portion whose tip side is inclined downward as compared with the rear side, and a wide field of view is secured by this inclined portion, so that the operator can have a pair of clamping arms in the operative field. The part 12 can be operated efficiently.
An opening 61H corresponding to this inclination is formed in the upper part of the casing 61, and a cover 61C is attached to the opening 61H.

A tubular portion 62 extending outward from the wall portion 61A is formed on the wall portion 61A on one end side where the protective pipe 65 is located. The cylindrical portion 62 has a recess in which a through hole 61B that penetrates the wall portion 61A is formed inward.
In addition, a pair of holding wall portions 61C extending in parallel toward the opposite side of the cylindrical portion 62 are formed on the inner surface of the wall portion 61A, and between the pair of holding wall portions 61C, The holding arm drive member 20 disposed from the cylindrical portion 62 via the through hole 61B is accommodated.
In addition, the piston turning member 51 of the second drive unit 50 is rotatably supported by the holding wall portion 61C via the support shaft 31 and the bearing 54B.
Further, a connecting hole 61P is formed in the lower portion of the casing 61, and a rotating hole 56B of the operation lever 56 is rotatably connected at a fulcrum 50C.

  The protective pipe 65 is formed in the cylindrical portion 62 while inserting the fixing sleeve 66 into the tapered portion of the inner periphery of the distal end side opening of the concave portion of the cylindrical portion 62 and then inserting the protective pipe 65 into the hole of the fixing sleeve 66. The cap nut 67 is screwed onto the threaded portion and attached, so that the fixing sleeve 66 is held from the outer peripheral side.

  The protection pipe 65 accommodates the sandwiching arm driving member 20 to prevent the sandwiching arm driving member 20 from being damaged by an external force, and in the passage through which the sandwiching arm driving member 20 leads to a narrow space, It is designed to suppress damage to living tissue and the like by contact with the body.

  As shown in FIGS. 1 and 2, the grip member 68 has, for example, a block-like shape having a cross section obtained by dividing an ellipse into two parts. The container 1 can be gripped stably.

Next, the operation of the needle holder 1 will be described.
First, in a state in which the operation wheel 39 is rotated counterclockwise, the third control link 38 has a posture as indicated by a two-dot chain line in FIG. 3 with the fulcrum 35C as the center.
As a result, as shown in FIG. 6A, since the piston member 32 is pulled in the direction of the arrow F31 and positioned on the backward side, the first clamping arm driving member 201 and the second clamping arm constituting the clamping arm driving member 20 The arm driving member 202 is moved in the direction of the arrow T1, and the first arm rotating member 111 and the second arm rotating member 112 are rotated around the rotating shaft 15 in the directions of the arrow R11 and the arrow R12, respectively. The first clamping arm portion 12A and the second clamping arm portion 12B are opened.

Next, when the operation wheel 39 is rotated to the right, the third control link 38 assumes a posture shown by a solid line in FIG. 3 with the fulcrum 35C as the center.
As a result, as shown in FIG. 6B, the piston member 32 is pressed in the direction of the arrow F33 to be positioned on the forward side, so that the first sandwiching arm drive member 201 and the second sandwiching member constituting the sandwiching arm drive member 20 The arm driving member 202 moves in the direction of the arrow T2, respectively, and the first arm rotating member 111 and the second arm rotating member 112 are rotated around the rotating shaft 15 in the directions of the arrow R21 and the arrow R22, respectively. Then, the first sandwiching arm portion 12A and the second sandwiching arm portion 12B are closed.

Next, for example, the clamping unit 10 as shown in FIG.
Therefore, an operation lever (not shown) is operated to rotate the second drive unit 50 in the direction of the arrow R51 as shown in FIG. 6C.
When the second drive unit 50 is rotated in the direction of the arrow R51, the first and second clamping arm driving members 201 and 202 constituting the clamping arm driving member 20 move in the directions of the arrows T2 and T1, respectively. Then, the first arm rotation member 111 and the second arm rotation member 112 are rotated around the rotation shaft 15 in the direction of the arrow R10, and the postures of the first clamping arm portion 12A and the second clamping arm portion 12B are determined. Changes.

Next, an operation lever (not shown) is operated to rotate the second drive unit 50 in the direction of arrow R52 as shown in FIG. 6 (D).
When the second drive unit 50 is rotated in the direction of the arrow R52, the first and second holding arm driving members 201 and 202 constituting the holding arm driving member 20 move in the directions of the arrows T1 and T2, respectively. Then, the first arm rotation member 111 and the second arm rotation member 112 are rotated around the rotation shaft 15 in the direction of the arrow R20, and the postures of the first clamping arm portion 12A and the second clamping arm portion 12B are rotated. Changes.

  Next, referring to FIG. 7A to FIG. 7D, the operation of the suture needle 100 by the needle holder 1 will be described. 7A to 7D, reference numeral 100 indicates a suture needle, and reference numeral 101 indicates a suture thread. Reference sign S1 indicates a first living tissue that pierces the suture needle 100 first, and reference sign S2 indicates a living tissue that is sutured to the first living tissue S1. The holding and turning of the suture needle 100 by the needle holder 1 is as shown in FIGS. 6 (A) to 6 (D).

(1) First, as shown in FIG. 7A, for example, the suture needle 100 is clamped by the first clamping arm 12A and the second clamping arm 12B.
(2) Next, as shown in FIG. 7B, for example, in the vicinity of the first living tissue S1 and the second living tissue S2 located in the narrow space, the first holding arm portion 12A and the second holding arm portion 12B. The suturing needle 100 clamped by is arranged.
Then, the first clamping arm portion 12A and the second clamping arm portion 12B are rotated around the rotation axis 15 in the direction of the arrow R20, and the suture needle in the longitudinal direction of the suture needle 100 with respect to the first living tissue S1. Pierce 100. At this time, the position of the needle holder 1 with respect to the first living tissue S1 is adjusted as appropriate.
(3) Next, as shown in FIG. 7C, the suture needle 100 protrudes from the first living tissue S1 to the second living tissue S2.
(4) Next, the first clamping arm portion 12A and the second clamping arm portion 12B are opened, the suture needle 100 is clamped again, the first biological tissue S1 and the second biological tissue S2 are abutted, and the second The living tissue S2 is pierced, and the suture needle 100 is further moved to suture the first living tissue S1 and the second living tissue S2.
Thereafter, as shown in FIG. 7D, when the suture needle 100 protrudes from the sutured second living tissue S2, the suture needle 100 is changed. Then, the suture needle 100 that has been changed is rotated around the rotation shaft 15 in the direction of the arrow R10 around the first clamping arm portion 12A and the second clamping arm portion 12B, and the suture needle 100 is moved to the second living tissue. Remove from S2. At this time, the position of the needle holder 1 with respect to the second living tissue S2 is adjusted as appropriate.

  Next, an example of how to use the gripper 1A will be described with reference to FIG. The configuration of the gripper 1A is the same as that of the needle holder 1. In FIG. 8, reference numeral 120 denotes a trocar used when the grasper 1A is inserted into the abdominal cavity in abdominal surgery. For example, the trocar is located in the abdominal cavity on the back side of living bodies (for example, organs) Y1 and Y2. It is a figure which shows the example in the case of changing the attitude | position of the blood vessel Y3 to perform.

First, as shown in FIG. 8A, the grasper 1A is inserted into the abdominal cavity through the trocar 120.
Next, the operating lever 56 is operated in the direction of the arrow R56F with the first holding arm 12A and the second holding arm 12B open, and the first holding arm 12A and the second holding arm 12B are opened. And is arranged near the blood vessel Y3.
Next, the operation wheel 39 is rotated in the direction of the arrow R39 to rotate the first sandwiching arm portion 12A and the second sandwiching arm portion 12B toward each other, and the pair of sandwiching arm portions 12 causes the blood vessel Y3. Grip.

Next, as shown in FIG. 8B, the operation lever 56 is operated in the direction of the arrow R56R, and the direction of the pair of holding arm portions 12 is rotated in the direction of the arrow R20 while holding the blood vessel Y3. Change the direction of Y3.
As described above, by using the gripper 1A, for example, it is possible to easily and stably change the posture of a living body including a blood vessel and a posture of a living tissue, and in a small space in a narrow space. Difficult procedures such as gripping or changing the direction of an object can be efficiently performed.

According to the needle holder 1 according to the embodiment, it is possible to move the needle stably and efficiently in a narrow space.
Further, according to the gripper 1A according to the embodiment, the object can be stably and efficiently handled in the vertical tangential direction in a narrow space.

Next, regarding the needle holder 1 according to the embodiment, an attachable / detachable attachment (gripper attachment) will be described.
For example, the attachment is configured such that the holding unit 10 can be integrally attached and detached, and includes a first arm rotating member 111, a second arm rotating member 112, and a rotating shaft 15. Yes. The first arm rotating member 111, the second arm rotating member 112, and the rotating shaft 15 may be configured to be detachable individually, or may not include the rotating shaft 15 or a holding arm. It is good also as a structure including a part of drive member 20, and it is possible to set arbitrarily.

  When the clamping unit 10 is used as an attachment, for example, the first arm pivoting member 111 and the second arm pivoting member 112 have a coupling unit for easily coupling to the clamping arm driving member 20, and this coupling The part is preferably configured to be easily connected to the holding arm drive member 20, for example, a well-known attachment means such as a screw structure, a connecting part using a cap nut, a C ring, an E ring pin, a welded structure, an adhesive, or the like. The same applies to the rotation shaft 15 and the clamping arm drive member 20.

  According to such an attachment, the first arm rotating member 111 and the second arm rotating member 112 can be easily and efficiently exchanged, so that the sanitary condition in the operation can be ensured as disposable. .

Note that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention.
For example, in the above embodiment, the case where the support shaft of the first arm rotation member 111 and the support shaft of the second arm rotation member 112 are both shared with the rotation shaft 15 has been described. The support shafts of the arm rotation member 111 and the second arm rotation member 112 or any one of the support shafts may be provided independently of the rotation shaft 15.

  In the above-described embodiment, the sandwiching arm driving member 20 includes the first sandwiching arm driving member 201 corresponding to the first arm pivoting member 111 and the second sandwiching arm driving corresponding to the second arm pivoting member 112. Although the case where the member 202 is provided has been described, the holding arm driving member 20 may be configured by one member corresponding to both the first arm rotating member 111 and the second arm rotating member 112.

  In the above embodiment, the case where the first clamping claw portion 14A and the second clamping claw portion 14B are formed at the distal ends of the first clamping arm portion 12A and the second clamping arm portion 12B has been described. Whether to form the clamping claws 14 on the first clamping arm 12A and the second clamping arm 12B or what shape to form the clamping claws 14 can be arbitrarily set.

  Moreover, in the said embodiment, although the case where the clamping arm drive member 20 was each comprised by five drive links was demonstrated, it replaced with a link mechanism which consists of another structure, or a link mechanism, for example, a wire , Worm gear, rack & pinion, actuator (for example, shape memory alloy, piezoelectric element, motor, etc.), etc.

  Moreover, in the said embodiment, although the case where the clamping arm drive member 20 was each comprised by five drive links was demonstrated, it replaced with a link mechanism which consists of another structure, or a link mechanism, for example, a wire , Worm gear, rack & pinion, actuator (for example, shape memory alloy, piezoelectric element, motor, etc.), etc.

  Further, the configuration of the first drive unit 30 and the second drive unit 50 is not limited to the configuration of the embodiment, and can be arbitrarily set. The worm gear, the rack and pinion, the actuator (for example, the shape memory alloy) , Piezoelectric elements, motors, etc.) and the like.

  Moreover, in the said embodiment, although the case where a pair of arm rotation member 11 was rotated in the range of +/- 60 degrees (total 120 degrees) was demonstrated, the rotation angle of a pair of arm rotation member 11 is demonstrated. The number of times can be arbitrarily set.

  Moreover, in the said embodiment, although the 1st drive part 30 demonstrated the case where the 1st arm rotation member 111 and the 2nd arm rotation member 112 were operated synchronously, the 1st drive part 30 was 1st. The arm turning member 111 and the second arm turning member 112 may be individually operated.

In the above embodiment, the case where the rotation shaft 15, the support shaft of the first arm rotation member 111 and the support shaft of the second arm rotation member 112 are formed in parallel has been described. It is good also as a structure by which the moving shaft was orthogonally arranged with the support shaft.
In addition, for example, the first arm rotating member 111 and the second arm rotating member 112 can be rotated around a multi-axis (for example, X axis & Y axis), a support axis in a polar coordinate system, a slide mechanism, and a twist. It is good also as a structure which is supported by the supporting member containing etc. and rotates around a some instruction | indication axis | shaft.

  According to the gripper, the needle holder, and the attachment according to the present invention, smooth and efficient grasping of a target object, smooth and efficient needle movement, and suturing can be performed in a narrow space and the like, which can be used industrially. .

S1, S2 Living tissue Y3 Blood vessel (target)
1 Needle holder (gripper)
1A Gripper 10 Holding Portion 111B Connection Hole (First Connection Portion)
112B connecting hole (second connecting part)
11 A pair of arm turning members 111 A first arm turning member 112 A second arm turning member 12 A pair of holding arm portions 12A A first holding arm portion 12B A second holding arm portion 14 A holding claw portion 14A A first holding claw portion 14B 2nd clamping nail | claw part 15 rotation axis (support axis)
20 Clamping Arm Drive Member 201 First Clamping Arm Drive Member (First Arm Drive Member)
202 2nd clamping arm drive member (2nd arm drive member)
30 1st drive part 39 Operation wheel (clamping arm attitude | position holding member)
50 Second drive unit 100 Suture needle

Claims (7)

A gripper for gripping an object,
A first arm rotating member having a first holding arm portion for holding the object and capable of rotating about a support shaft;
A second arm pivot that is paired with the first sandwich arm and has a second sandwich arm that sandwiches the object in cooperation with the first sandwich arm and is rotatable about a support shaft. Members,
A first arm driving member connected to the first arm rotating member to rotate the first arm rotating member;
A second arm driving member connected to the second arm rotating member to rotate the second arm rotating member;
By rotating the first arm rotating member and the second arm rotating member via the first arm driving member and the second arm driving member, the first holding arm portion and the second holding arm are rotated. A first drive part for opening and closing the part;
A second drive section for rotating the pair of sandwiching arm sections around a rotation axis formed in a direction parallel to or orthogonal to the axis of the support shaft;
A gripper comprising: The gripper according to claim 1,
The first arm driving member connects the first connecting portion and the first driving portion that generate a rotating torque to the first arm rotating member,
The second arm driving member connects a second connecting portion that generates a rotating torque to the first arm rotating member and the first driving portion,
The first driving unit includes:
The first arm driving member and the second arm driving member are moved forward and backward in the same direction with respect to the pair of holding arm portions so as to open and close the first holding arm portion and the second holding arm portion. It is comprised in the grasper characterized by the above-mentioned. The gripper according to claim 1 or 2,
The first driving unit includes:
The holding which hold | maintains the relative position of the said 1st clamping arm part and the said 2nd clamping arm part by hold | maintaining the forward / backward position with respect to the said pair of clamping arm part of the said 1st arm drive member and the said 2nd arm drive member A gripper comprising an arm posture holding member. The gripper according to any one of claims 1 to 3,
The pair of sandwiching arm portions are rotatable around an axis of a rotation axis parallel to the axis of the support shaft,
The second driving unit includes:
The first arm driving member and the second arm driving member are configured to advance and retract in opposite directions to rotate the pair of sandwiching arm portions around the axis of the rotation shaft. Gripper. The gripper according to any one of claims 1 to 3,
The pair of sandwiching arm portions are rotatable around an axis of a rotation shaft formed orthogonal to the axis of the support shaft,
The second driving unit includes:
A gripping device configured to move the first arm driving member and the second arm driving member forward and backward so that the holding arm portion is rotated about the rotation axis.   It is used for the grasper according to any one of claims 1 to 5, and includes the first arm rotating member and the second arm rotating member, and the first arm rotating member and the second arm rotating member. The gripper attachment, wherein the arm rotating member includes a detachable connecting portion with respect to the first arm rotating member and the second arm driving member, respectively.   The needle holder according to any one of claims 1 to 6, wherein an object to be clamped by the first clamping arm unit and the second clamping arm unit is a suture needle.

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