JP2018068708A - Remote operation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote operation device capable of achieving long stroke of a flexible operation material and size reduction of a device itself.SOLUTION: A storage groove 12A is provided on a storage drum 12, and an operation pin 16 is slidably arranged in a hole part 12B on a center part of the storage drum 12. A base end part of an actuation wire 24 of a flexible operation material 22 is fastened to the operation pin 16, and the actuation wire 24 penetrates inside of an exterior tube 26. A drive part 20A of a linear motion actuator 20 arranged on a position facing the center part of the storage drum 12 vertically moves for pushing the operation pin 16 into the storage drum 12. A tip end part of the actuation wire 24 is connected to a grip forceps 28 installed on a tip end side of the flexible operation material 22. A rotary table 32 is provided to face the bottom surface of the storage drum 12, and a motor 34 for rotating the rotary table 32 is provided.SELECTED DRAWING: Figure 3

Description

  The present invention is suitable for a device that is driven by pulling a wire that is often used for forceps, an endoscope, an artificial hand, a robot hand, and the like.

  Conventionally, a laparotomy or a thoracotomy is performed as a surgical operation for removing a lesion or the like. In these operations, the abdominal wall or chest wall was incised over several tens of centimeters, and the doctor performed the operation by touching the affected part directly with his / her hand. However, the laparotomy and thoracotomy have problems that the incision area is wide, so that the pain is large and scars are easily left, and the burden on the body is large, and the postoperative recovery takes a long time.

  On the other hand, there is a laparoscopic operation as one of the operations with a relatively small burden on the body. In this laparoscopic surgery, several small holes of about 3 to 15 mm are made in the abdomen and chest, and a special long and narrow medical instrument such as a laparoscope or grasping forceps is inserted from there, and the body is projected on the monitor. Surgery performed while observing the above. This laparoscopic surgery has become widespread in recent years because it has a narrower incision area compared to laparotomy and thoracotomy, hence less postoperative pain, good cosmetics, and quick postoperative recovery. .

  However, while laparoscopic surgery is low invasion, conventionally used grasping forceps have a linear shape, so that surgery is difficult when the affected part is deep in the body. Therefore, there has been proposed a technique for performing a surgical operation with a soft surgical tool corresponding to a laparoscope capable of bypassing an organ or the like and securing a route to an affected part, and construction of an operation system for this soft surgical tool is required.

As an operation system for a flexible surgical instrument, a master / slave type operation system comprising an operation unit (master) and a working unit (slave) for flexible forceps that can be mounted on a flexible endoscope has already been proposed. Yes.
As shown in FIG. 11A, the first prior art of this operation system is such that the proximal end portion of the flexible forceps 110, which is a flexible operation material, is attached to the linear actuator 116 of the operation device, and the distal end portion of the flexible forceps 110 is attached. In order to open and close the holding forceps 114, a wire pulling mechanism composed of a linear actuator 116 for pulling the wire 112 and a feed mechanism for the flexible forceps 110 are operated by two actuators. That is, the proximal end of the wire 112 is fixed to the linear motion actuator 116, and not only the wire 112 is pulled by the linear motion actuator 116, but also the linear motion actuator 116 is driven by another linear motion or rotation actuator (not shown) to be soft. The forceps 110 is pulled in and out.

  Further, as a second conventional technique, the pulley 118 as shown in FIG. 11B is rotated to pull the wire 112, and the flexible forceps 110 is pulled and sent out by rotating the pulley 118 by a rotary actuator (not shown). The structure is also known.

  Further, as a third conventional technique, there is a technique in which the forceps insertion portion 6 is wound around the rotation drum 7 in order to store the forceps insertion portion 6 on the outer peripheral surface 22A of the rotation drum 7 disclosed in Patent Document 1 below. Are known.

JP 2006-68075 A

However, in these prior art structures, the following problems occur when the entire system including the soft forceps 110, the linear actuator 116, the pulley 118, and the like is rotated around the wire pulling portion.
In the first prior art, since the linear or rotary actuator (not shown) is used for the feeding mechanism of the flexible forceps 110, the feeding of the entire system and the pulling of the wire 112 can be easily controlled independently of each other. However, when a linear actuator is used as the feed mechanism, the apparatus becomes larger as the stroke increases. In addition, when a rotary actuator is used, a stroke can be secured, but when the amount of rotation increases due to an increase in the stroke, the linear actuator 116 itself is rotated, which causes not only a problem of twisting of the wiring. Rotation target becomes larger. Therefore, it is difficult to achieve both downsizing of the apparatus and a long stroke.

  In the second prior art, if the rotary actuator for rotating the entire system including the soft forceps 110 and the pulley 118 and the rotary actuator for pulling the wire 112 are arranged on the same axis, the rotary actuator for pulling the wire itself is not rotated. The amount of rotation of the entire system can be increased. However, when the rotation of the entire system and the wire pulling are realized at the same time, the rotations of the two rotary actuators affect each other's operation. Therefore, when the entire system is rotated around the pulling portion of the wire 112, the wire tension It is difficult to control the rotation of the system and the rotation of the entire system independently.

  In the third prior art, the difficulty of the occurrence of twisting and the like in the first and second prior arts is solved, but the pulling and pulling of the wire for opening and closing the forceps partially coincides with the winding direction of the drum. For this reason, it was difficult to simultaneously open and close the forceps.

  The present invention has been made in view of the above background, and provides a remote operation device capable of controlling the opening and closing movement of the distal end side of the flexible operation material without being affected by the operations of the two actuators. Objective.

The invention according to claim 1, which has solved the above-mentioned problem, is a flexible cord-like insertion portion equipped with a treatment tool that opens and closes at the tip,
An operation unit for operating the opening and closing movement of the treatment instrument;
A remote control device having
The insertion portion includes a wire having one end connected to the treatment instrument, and an outer tube covering the wire,
The operation portion winds and rotates the insertion portion and rotates the insertion drum to enter and leave the insertion portion, and the other end of the wire is fixed and rotates in cooperation with the storage drum and the winding direction. A remote control device including an opening / closing mechanism movable in a different direction.

In the remote control device according to claim 1, an operation portion for operating the opening / closing movement is fixed to the proximal end side of the insertion portion of the flexible structure formed so that the treatment tool on the distal end side can be opened / closed. However, it is comprised including the wire with which the treatment tool and one end were connected, and the exterior tube which covers this wire. Further, the storage drum supports the operation unit while being able to reciprocate.
On the other hand, the operation part winds and rotates the insertion part and rotates the insertion part to enter and leave the insertion part, and the other end of the wire is fixed and rotates in cooperation with the storage drum and differs from the winding direction. An opening / closing mechanism movable in the direction is included. Then, the treatment instrument on the distal end side of the insertion portion is opened and closed by reciprocating the opening and closing mechanism of the operation portion with respect to the storage drum. Further, the flexible insertion portion can be wound around the storage drum by the rotation of the storage drum.

  That is, according to the present invention, the treatment instrument on the distal end side of the insertion portion is opened and closed, and the insertion portion having a flexible structure can be wound around the storage drum. This makes it possible to independently control the pulling of the insertion portion and the rotation of the entire system including the insertion portion and the storage drum. Along with this, a so-called feeding operation mechanism that rotates the storage drum to feed and retract the insertion portion and a so-called opening / closing operation mechanism that opens and closes the distal end side of the insertion portion are independent of each other. It is possible to achieve both a reduction in size and a longer stroke of the insertion portion.

On the other hand, in this claim, the pulling of the insertion portion is determined by the pushing amount of the operation portion. On the other hand, when the entire system including the insertion portion and the storage drum is rotated, the opening / closing mechanism to which the other end of the wire is fixed moves in a direction different from the winding direction. There is no rotation limit.
As described above, according to the present invention, the pulling of the insertion portion and the rotation of the entire system including the insertion portion and the storage drum can be controlled independently.

According to the remote control device of the second aspect, the opening / closing mechanism moves back and forth in the axial direction of the storage drum.
In other words, since the opening / closing mechanism moves back and forth in the axial direction of the storage drum, the insertion portion can be easily drawn into or sent out from the storage drum, so that the insertion portion can be pulled in or out by any amount at any time. .

According to the remote control device of the third aspect, the movement of the storage drum in the axial direction is urged against the opening / closing mechanism.
As a result, the treatment instrument attached to the distal end of the insertion portion is biased to open and close as the wire moves relatively in the exterior tube. On the other hand, in other cases, the treatment instrument does not open and close, and the open state or the closed state can be maintained.

According to the remote control device of the fourth aspect, the opening / closing mechanism has a pin-shaped portion, and pushes and pulls the pin-shaped portion from the outside.
Thus, by pushing and pulling the pin-shaped portion of the opening / closing mechanism from the outside, it is possible to automate the remote operation device and to perform remote operation.

  According to the present invention, an excellent effect is provided in that a remote control device is provided that can control the opening / closing movement of the distal end side of the insertion portion without being affected by the operations of the two actuators.

It is a perspective view of a storage drum applied to a remote control device according to an embodiment of the present invention. It is an expanded whole view of the remote control device which concerns on one Embodiment of this invention, Comprising: It is sectional drawing which shows the state which the operation pin raised. It is an expanded whole view of the remote control device concerning one embodiment of the present invention, and is a sectional view showing the state where the operation pin fell. It is a general view of the remote control device concerning one embodiment of the present invention, and is a front view explaining attachment of a storage drum to a turntable. It is a general view of the remote control device concerning one embodiment of the present invention, and is a front view showing the state where the storage drum was attached to the turntable. It is a perspective view of a turntable showing an engagement claw used for engagement of a storage drum with a turntable of a remote control device according to an embodiment of the present invention. It is a figure showing the part used for engagement with the turntable of the storage drum of the remote control device which concerns on one Embodiment of this invention, Comprising: (A) is a bottom view of a storage drum, (B) is a turntable. FIG. It is a conceptual sectional view showing winding of the flexible operation material around the storage drum of the remote operation device concerning one embodiment of the present invention, and (A) is in the state where the flexible operation material was pulled in, and (B) is flexible. The operation material is being sent out. It is a perspective view of the laparoscope in which the flexible operation material to which the remote control device concerning one embodiment of the present invention is applied is used. It is sectional drawing of the laparoscope in which the flexible operation material to which the remote control apparatus which concerns on one Embodiment of this invention was applied is used. It is a figure showing a prior art, Comprising: (A) is a figure explaining the traction by a linear motion actuator, (B) is a figure explaining the traction by winding of a pulley.

Hereinafter, an embodiment of a remote control device according to the present invention will be described in detail with reference to the drawings.
As shown in FIGS. 1 to 3, the remote control device 10 of the present embodiment is provided with a storage groove 12 </ b> A around the circumference of the storage drum 12 formed in a cylindrical shape by, for example, a metal material. A hole 12B having a circular shape and a non-penetrating bottom is formed at the center of the hole.

  An axial operation pin 16 as an operation part is slidably disposed in the hole 12B, and a coil spring 14 is inserted between the bottom of the hole 12B and the operation pin 16. For this reason, the operation pin 16 is constantly urged toward the top surface of the storage drum 12 by the coil spring 14. For example, the storage drum 12 is formed in a cylindrical shape having a diameter D of 50 mm and a height H of 21.5 mm shown in FIG. 4, the storage groove 12A has a width of 3 mm, and the bottom surface of the storage groove 12A has a diameter of 30 mm. The structure is made.

  However, the wall surface of the storage drum 12 around the hole 12B and a part of the outer peripheral surface of the operation pin 16 are notched, and the detent key 18 is inserted into this part, so that the storage drum of the operation pin 16 is inserted. Inadvertent rotation with respect to 12 is prevented. As shown in FIGS. 2 and 3, a drive unit 20 </ b> A of a linear actuator 20 including a motor such as a stepping motor, a solenoid, and the like is positioned above the storage drum 12 and opposed to the central portion of the storage drum 12. The drive unit 20A moves up and down to push the operation pin 16 into the storage drum 12.

  On the other hand, the proximal end portion of the metal operating wire 24 constituting the flexible operating member 22 of the present embodiment is embedded and fixed in the middle of the operating pin 16 in the axial direction. The working wire 24 penetrates through an exterior tube 26 formed of a resin material such as Teflon (registered trademark) in a tube shape that also constitutes the flexible operation material 22. For example, since the flexible operation member 22 has a cross-sectional diameter of 3 mm and a length of 500 mm, the flexible operation member 22 can be wound up to about 5 turns in the storage groove 12A having a diameter of 30 mm. .

  On the distal end side of the flexible operation member 22, a grasping forceps 28 that is an operation unit that opens and closes and is also used as an end effector is installed, and the distal end portion of the operating wire 24 is connected to the grasping forceps 28. A spring (not shown) is attached to the grasping forceps 28 and is normally in an open state as shown in FIG. As shown in FIGS. 2 and 3, the storage drum 12 is formed with a through hole 12C through which the working wire 24 passes from the hole 12B toward the storage groove 12A. Since the portion is fixed to the bottom of the storage groove 12A, the outer tube 26 is positioned to face the through hole 12C.

  Accordingly, the flexible operation member 22 including the operation pin 16, the linear motion actuator 20, and the like constitute a so-called opening / closing operation mechanism that opens and closes the grasping forceps 28. Then, as shown in FIG. 3, the drive portion 20 </ b> A of the linear actuator 20 moves and pushes down while the operation pin 16 fixed to the proximal end side of the flexible operation material 22 resists the urging force of the coil spring 14. Thus, the working wire 24 is pulled out from the proximal end portion of the outer tube 26 by a predetermined amount. Accordingly, the operating wire 24 moves relatively in the outer tube 26, and the gripping forceps 28 on the distal end side of the flexible operation material 22 is opened and closed to be closed.

  Further, by stopping the pressing of the linear actuator 20 by the drive unit 20A, as shown in FIG. 2, the operation pin 16 is lifted by the urging force of the coil spring 14, and the operating wire 24 is also relatively moved within the outer tube 26. The gripping forceps 28 on the distal end side of the flexible operation material 22 is opened and closed to open. That is, in this embodiment, the operating wire 24 is relatively moved in the outer tube 26 by the reciprocating motion of the operation pin 16 by the linear actuator 20, and the grasping forceps 28 on the distal end side of the flexible operation material 22 is opened and closed. It will be.

  On the other hand, as shown in FIG. 4, a rotation mechanism 30 is disposed to face the linear actuator 20. The rotating mechanism 30 includes a rotating table 32 and a motor 34 that is a driving source that rotates the rotating table 32 and serves as a rotation actuator. In the drive shaft 34A formed in a cylindrical shape of the motor 34, a connecting shaft 32A protruding downward from the center position of the turntable 32 is inserted coaxially and slidably with the drive shaft 34A. However, the rotation between the connecting shaft 32A and the drive shaft 34A is prevented by a key, spline, or the like (not shown). A coil spring 36, which is an elastic member, is wound around the upper end of the drive shaft 34A and the lower surface of the turntable 32, and this coil spring 36 constantly biases the turntable 32 upward. ing.

  As shown in FIGS. 6 and 7B, three engaging claws 32B protrude from the upper surface of the turntable 32 at equal intervals of 120 degrees around the connecting shaft 32A. Correspondingly, on the bottom surface of the storage drum 12 described above, three recesses 12D are positioned coaxially with the operation pin 16 every 120 degrees around the central axis C shown in FIGS. 5 and 7A. Are formed at positions corresponding to the engaging claws 32B.

  Accordingly, when the storage drum 12 shown in FIG. 4 is moved to the position shown in FIG. 5 and the motor 34 is slightly rotated, the engaging claws 32B are pushed up by the coil springs 36 so that they are respectively fitted in the recesses 12D. Will be involved. As a result, the storage drum 12 is positioned on the turntable 32 so that the central portion of the storage drum 12 is coaxial with the central axis C. Accordingly, the rotational force of the motor 34 is transmitted to the storage drum 12 via the drive shaft 34A, the connecting shaft 32A, and the turntable 32, so that the storage drum 12 can be rotated. That is, the motor 34 rotates the storage drum 12 around the rotation axis C.

  As described above, the engaging claw 32B and the recess 12D are engaged with each other, so that the motor 34 rotates the storage drum 12 via the drive shaft 34A and the connecting shaft 32A, and the storage drum 12 as shown in FIG. The flexible operation member 22 is drawn into the storage groove 12A and the flexible operation member 22 is sent out from the storage groove 12A as shown in FIG.

  However, even when the storage drum 12 rotates around the central axis C, the position of the operation pin 16 arranged at the center of rotation of the storage drum 12 does not deviate. 20A is always possible. The rotation mechanism 30, the recess 12D, and the like constitute a so-called feed operation mechanism that rotates the storage drum 12 to draw in and send out the flexible operation material 22.

Next, an example of using the remote control device 10 according to the present embodiment for laparoscopic surgery will be described below.
A laparoscope 40, which is a flexible endoscope shown in FIGS. 9 and 10, includes a sub-tube 42B into which the remote control device 10 is inserted, in addition to a main tube 42A into which an endoscope body (not shown) is placed in an extendable bellows 42. Is provided.

  A plurality of guide wires 44 are arranged on the outer peripheral side of the bellows 42 so that the distal end portion of the laparoscope 40 can go in an arbitrary direction. By pulling any one of the guide wires 44, the distal end portion of the laparoscope 40 can be guided so as to bypass the organ or the like and travel toward the path to the affected area even when the affected area exists deep in the body.

  Further, on the outer peripheral side of the bellows 42, a plurality of link members 46 extend along the longitudinal direction of the bellows 42 to reinforce the bellows 42, and spacer rings 48 are arranged at predetermined intervals. The link member 46 and the guide wire 44 penetrate each spacer ring 48.

  On the other hand, if it is determined that it is necessary to collect a sample from the affected part while the doctor visually observes the affected part with the endoscope body, the remote control can be performed by positioning the storage drum 12 on the turntable 32 in advance. As the motor 34 of the apparatus 10 is driven to rotate, the storage drum 12 rotates. And the flexible operation material 22 from the storage drum 12 can be sent out, and the front end side of the flexible operation material 22 can be sent in in the subtube 42B. Furthermore, the gripping forceps 28 are operated by the linear actuator 20, and a sample can be collected from the affected area.

  Thereafter, as the motor 34 is driven in the reverse direction, the storage drum 12 rotates in the reverse direction, and the flexible operation material 22 is rewound to complete the sampling. If a plurality of samplings are required, the remote storage device 12 is replaced with another storage drum 12, and the remote control device 10 is used again to collect the same.

Next, the operation of the remote control device 10 according to the present embodiment will be described below.
The flexible operation member 22 of the remote control device 10 according to the present embodiment is formed in a flexible structure having a grasping forceps 28 that opens and closes on the distal end side and an operating wire 24 that penetrates the exterior tube 26. Although the operation pin 16 is fixed to the proximal end side of the operation wire 24, the operation pin 16 is supported so as to be able to reciprocate in the center of the storage drum 12. Therefore, as the driving wire 24 relatively moves in the outer tube 26 by the reciprocating movement of the operation pin 16 with respect to the storage drum 12 by the driving portion 20A of the linear motion actuator 20, FIG. As shown in FIG. 3, the grasping forceps 28 on the distal end side of the flexible operation material 22 are operated to open and close.

  On the other hand, even if the storage drum 12 is rotated around its center portion, the operation pin 16 located at the center portion does not substantially move, so that the operation pin 16 can be operated by the linear actuator 20 at all times. Therefore, the rotation of the entire system around the storage drum 12 that pulls in or feeds out the flexible operation material 22 can be controlled independently of the operation of the grasping forceps 28.

  Specifically, it has a motor 34 for rotating the storage drum 12, and this motor 34 draws the flexible operation material 22 by the storage drum 12 and feeds the flexible operation material 22 from the storage drum 12. Yes. Therefore, as the entire system is rotated by the rotation of the storage drum 12 and the flexible operation material 22 having a flexible structure can be wound around the storage drum 12, an arbitrary amount at any time during the operation, The flexible operation material 22 can be pulled in and out.

  As described above, in this embodiment, when the operation pin 16 is reciprocated by the linear motion actuator 20, the grasping forceps 28 on the distal end side of the flexible operation material 22 is surely opened and closed. The pulling amount of the operating wire 24 is determined by the pressing amount of the operation pin 16 by the linear motion actuator 20.

  On the other hand, when the entire system including the flexible operation material 22 and the storage drum 12 is rotated by the motor 34, the flexible operation material 22, which is a soft forceps, is wound around the storage drum 12. At this time, the operation pin 16 and the linear motion actuator 20 are wound. By sliding the tip of the linear actuator 20, it is not necessary to rotate the linear actuator 20 itself, and there is no limitation on the rotation due to the wiring of the linear actuator 20.

  As described above, the pulling of the operating wire 24 of the flexible operation material 22 and the rotation of the entire system including the flexible operation material 22 and the storage drum 12 can be independently controlled. That is, in the present embodiment, a so-called feed operation mechanism that rotates the storage drum 12 to draw the flexible operation material 22 into the storage drum 12 and feed it out from the storage drum 12, and a grasping forceps on the distal end side of the flexible operation material 22. 28 so-called opening / closing operation mechanisms are individually independent. In the remote operation device 10 according to the present embodiment, since there are few parts that are independently configured, the device can be realized at low cost.

  For this reason, in this embodiment, it is possible to control the tension of the operating wire 24 without causing twisting of the wiring of the linear actuator and the rotational operation of the two actuators not affecting each other unlike the prior art. By doing so, it is possible to achieve both a reduction in the size of the remote operation device 10 and an increase in the stroke of the flexible operation material 22. As a result, even when the flexible operation member 22 is pulled into the storage drum 12 in the closed state and the open state where the gripping forceps 28 are closed, the open / closed state of the gripping forceps 28 is maintained in any state. It becomes possible to operate as it is.

  In the above embodiment, a metal material such as aluminum or iron may be used as the material of the storage drum 12, but a resin material may be used. Further, the rotation stop key 18 is used to prevent the operation pin 16 from rotating with respect to the storage drum 12, but it may be fixed by a known means such as a spline. Further, when motors such as stepping motors are employed as the linear motion actuator 20, gears, link mechanisms, cam mechanisms, and the like that convert the rotational force of the motors into linear motion of the drive unit 20A are arranged in the linear motion actuator 20. It is possible.

  On the other hand, the outer tube 26 of the flexible operation material 22 may be made of a resin material other than Teflon (registered trademark), or may be a metal material. In short, the flexible operation material 22 may be a flexible structure that can be wound around the storage drum 12. Further, the remote operation device according to the present invention has one flexible operation material 22 and one operation wire 24, but may be two or more, and the remote operation device is applicable only to laparoscopic surgery. The present invention is not limited, and can be applied to a practice instrument for surgery, for example.

  The embodiment according to the present invention has been described above, but the present invention is not limited to the embodiment, and various modifications can be made without departing from the spirit of the present invention.

  The present invention can be applied not only to medical use such as surgery on a human body but also to other technical fields such as industrial use such as repair accompanying inspection in a pipe.

10 Remote Operation Device 12 Storage Drum 12A Storage Groove 16 Operation Pin (Opening / Closing Mechanism)
20 linear actuator 20A drive unit 22 flexible operation material (insertion unit)
24 Actuation wire (wire)
26 exterior tube 28 grasping forceps (treatment tool)
30 Rotating mechanism 32 Rotating table 34 Motor 32B Engaging claw 12D Recess

Claims (4)

A flexible cord-like insertion part equipped with a treatment tool that opens and closes at the tip;
An operation unit for operating the opening and closing movement of the treatment instrument;
A remote control device having
The insertion portion includes a wire having one end connected to the treatment instrument, and an outer tube covering the wire,
The operation part winds and rotates the insertion part and rotates the insertion part to enter and leave the insertion part, and the other end of the wire is fixed and rotates in cooperation with the storage drum and the winding direction. Remote control device including an opening and closing mechanism that can move in different directions.   The remote control device according to claim 1, wherein the opening / closing mechanism moves back and forth in the axial direction of the storage drum.   The remote control device according to claim 1, wherein the movement of the storage drum in the axial direction is biased toward the opening / closing mechanism.   The remote control device according to any one of claims 1 to 3, wherein the opening / closing mechanism has a pin-shaped portion and pushes and pulls the pin-shaped portion from the outside.

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