JP2019516421A - 外科用器具のための制御装置 - Google Patents
外科用器具のための制御装置 Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
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- A—HUMAN NECESSITIES
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/02—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing for conveying rotary movements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/10—Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
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Abstract
Description
器具チャネルは、器具に及び/またはそれから流体を輸送するように配置されてもよい。例えば、外科用スコープ装置は、流体を治療部位に送達する、またはそこから除去するように配置されてもよい。細長い力伝達要素は、器具チャネルに沿って流体の通過を可能にする、またはそれを容易にする複数の貫通孔を含んでもよい。細長い力伝達要素は器具チャネルの空隙を占有し、したがって流体が利用可能な容積を制限できる。細長い力伝達要素を多孔性にすることは(例えば、それを通して複数の孔を提供することによって)、流体の通過を容易にする。孔は、細長い力伝達要素の構造剛性(特に長手方向の)に影響を及ぼさない方法で寸法を定め、かつ配置されてもよい。孔は、細長い力伝達要素の遠位部だけに、例えば、遠位連結部材及び遠位端エフェクターが器具チャネルの空隙を占有する領域だけに形成されてもよい。
図5A、図5B及び図5Cは、連結部材114の斜視図(図5A)、側面図(図5B)及び端面図(図5C)を示す。連結部材114は、回転部材108の内部空洞302のガイド110上に配置され、それが、螺旋ねじ山300の回転によって、ガイド110に沿って軸方向に移動するように、螺旋ねじ山300と係合するように構成される。
Claims (23)
- 外科用スコープ装置のための器具回転機構であって、前記器具回転機構が、
前記外科用スコープ装置の器具チャネルの近位端に取り付け可能なハウジング;
前記ハウジングに対して回転するために取り付けられた近位アクチュエータ;
前記外科用スコープ装置の前記器具チャネル内に摺動可能に取り付けられ、及びそれに沿って伸びるように構成される細長い力伝達要素;
前記ハウジングに対する前記近位アクチュエータ回転運動を、前記器具チャネルに対する前記細長い力伝達要素の直線的な動きに変換するために、前記近位アクチュエータ及び前記細長い力伝達要素と操作可能に嵌合する近位連結器;
前記器具チャネルに取り付けた外科用器具の遠位部に固定した遠位端エフェクター;及び
前記器具チャネルに対する前記細長い力伝達要素の直線的な動きを、前記器具チャネルに対する前記遠位端エフェクターの回転運動に変換するために、前記遠位端エフェクター及び前記細長い力伝達要素と操作可能に嵌合する遠位連結器;を含む、前記器具回転機構。 - 前記近位連結器が前記ハウジングに摺動可能に取り付けられる、請求項1に記載の器具回転機構。
- 前記ハウジングが、前記細長い力伝達要素が前記ハウジングに対して回転するのを防ぐように配置した、回転抑制要素を含む、請求項1または2に記載の器具回転機構。
- 前記回転抑制要素が、前記ハウジングに対して回転するのを防ぐために前記近位連結器を係合するように配置される、請求項3に記載の器具回転機構。
- 前記回転抑制要素が、前記近位連結器の線状摺動軌跡を画定する、請求項4に記載の器具回転機構。
- 前記近位連結器及び前記近位アクチュエータが、ノンロッキングねじ型係合を介して、操作可能に接続される、先行請求項のいずれか一項に記載の器具回転機構。
- 前記近位アクチュエータが螺旋構造を含み、前記近位連結器が、前記螺旋構造上に取り付けられ、かつそれに沿って移動可能な係合要素を含む、先行請求項のいずれか一項に記載の器具回転機構。
- 前記螺旋構造が凹状軌道であり、前記係合要素が前記凹状軌道に位置するピンである、請求項7に記載の器具回転機構。
- 前記遠位連結器及び前記遠位端エフェクターが、ノンロッキングねじ型係合を介して、操作可能に接続される、先行請求項のいずれか一項に記載の器具回転機構。
- 前記遠位端エフェクターが螺旋構造を含み、前記遠位連結器が、前記螺旋構造上に取り付けられ、かつそれに沿って移動可能な係合要素を含む、先行請求項のいずれか一項に記載の器具回転機構。
- 前記螺旋構造が、前記外科用器具の前記遠位部周囲に取り付けられた螺旋スリーブであり、前記係合要素が、前記螺旋スリーブと協働する螺旋部を有する環を含む、請求項10に記載の器具回転機構。
- 前記近位アクチュエータが第1の螺旋構造を含み、及び前記近位連結器が、前記第1の螺旋構造上に取り付けられ、かつそれに沿って移動可能な第1の係合要素を含み、
前記遠位端エフェクターが第2螺旋構造を含み、及び前記遠位連結器が、前記第2の螺旋構造上に取り付けられ、かつそれに沿って移動可能な第2の係合要素を含み、ならびに
前記第1の螺旋構造のピッチが、前記第2の螺旋構造のピッチより大きい、先行請求項のいずれか一項に記載の器具回転機構。 - 前記第1の螺旋構造の前記ピッチが、前記第2の螺旋構造の前記ピッチの1.5倍以上である、請求項12に記載の器具の回転機構。
- 先行請求項のいずれか一項に記載の器具回転機構が、前記外科用器具への接続のため前記器具チャネルを通って伸びる器具ケーブルを含み、前記近位アクチュエータが前記器具ケーブルの近位部に固着する、先行請求項のいずれか一項に記載の器具回転機構。
- 前記遠位端エフェクターが、前記器具ケーブルの遠位部に固着する、請求項14に記載の器具回転機構。
- 前記細長い力伝達要素が、近位部及び遠位部を含み、そこで前記器具回転機構が、
前記細長い力伝達要素の前記近位部と前記遠位部の間に位置する中間回転部材;
前記器具チャネルに対する前記細長い力伝達要素の前記近位部の直線的な動きを、前記器具チャネルに対する前記中間回転部材の回転運動に変換するために、前記細長い力伝達要素の前記中間回転部材と前記近位部を操作可能に嵌合する近位中間連結器;及び
前記器具チャネルに対する前記細長い中間回転部材の回転運動を、前記器具チャネルに対する前記細長い力伝達要素の前記遠位部の直線的な動きに変換するために、前記細長い力伝達要素の前記中間回転部材と前記遠位部分を操作可能に嵌合する遠位中間連結器;を更に含む、先行請求項のいずれか一項に記載の器具回転機構。 - 前記中間回転部材が螺旋スリーブを含み、前記近位中間連結器及び前記遠位中間連結器が、前記螺旋スリーブと協働するように構成される、螺旋切欠き区域を有する環をそれぞれ含む、請求項16に記載の器具回転機構。
- 前記ハウジングが、前記外科用スコープ装置を操作するためのハンドルの一部である、先行請求項のいずれか一項に記載の器具回転機構。
- 前記細長い力伝達要素が、前記器具チャネルに沿って前記器具ケーブルを運搬するための、それを通る長手方向路を有するスリーブを含む、先行請求項のいずれか一項に記載の器具回転機構。
- 前記スリーブが、前記器具チャネルを通過する流体の流れを促進するために、その遠位端で多孔性である、請求項19に記載の器具の回転機構。
- 前記スリーブがその遠位端に複数の孔を含む、請求項20に記載の器具回転機構。
- 前記細長い力伝達要素が、
プラスチック押出成形カテーテル、
レーザーカット管、
カプセル封止した編組のいずれかである、先行請求項のいずれか一項に記載の器具回転機構。 - 前記細長い力伝達要素がPEEK、ポリイミドまたはステンレス鋼から製造される、先行請求項のいずれか一項に記載の器具回転機構。
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