JP2020065691A - Surgery support robot instrument - Google Patents

Abstract

To provide a surgery support robot instrument capable of reducing risks such as failures and false operation.SOLUTION: A surgery support robot instrument includes: a shaft 10 formed into a cylindrical shape from a material having conductivity; an instrument body 20 arranged at one end part in the shaft 10 and arranged rotatably with respect to the shaft 10; a power supply cable 40 arranged in the shaft 10 and supplying the instrument body 20 with power; a drive wire 50 formed into a rope-like shape from a material having conductivity, arranged inside the shaft 10, and transmitting a driving force that rotates the instrument body 20 with respect to the shaft 10; and insulation layers 11f, 11r formed from a material having insulation quality covering at least a part of an inner surface of the shaft 10.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a surgical assisting robot surgical tool.

  In surgery and the like, a technique has been proposed in which a surgical instrument is opened and closed by using an electromagnet to modify or crush a lesion (see, for example, Patent Document 1). In addition, various types of instruments have been proposed as an instrument for performing incision or hemostasis using high-frequency current (see, for example, Patent Documents 2 and 3). An electric scalpel is known as an instrument for performing incision and hemostasis.

Japanese Patent Publication No. 2009-540954 Japanese Patent Publication No. 2017-516628 Japanese Patent Publication No. 2007-537784

  In Patent Document 1, a lead through which a current is conducted is provided, and the surgical instrument is opened and closed by a current supplied through the lead. In Patent Documents 2 and 3, the incision is performed by heating the cells in the incision by supplying the supplied high-frequency current to the incision. In addition, the heat also stops the bleeding of the area adjacent to the incision.

  However, the techniques described in Patent Documents 1 to 3 described above have a problem that it is difficult to use them in a surgical tool used in a surgical assistance robot. Specifically, if a high-frequency current or the like supplied to the surgical instrument flows from the surgical instrument to the surgery support robot, it may cause failure or malfunction of the sensor device or control device mounted on the surgery support robot. There was a problem.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a surgical assisting robot surgical instrument capable of reducing the risk of failure and malfunction.

In order to achieve the above object, the present invention provides the following means.
A surgical assistance robot surgical instrument of the present invention is provided with a shaft formed in a tubular shape from an electrically conductive material, and arranged at one end of the shaft and rotatably arranged with respect to the shaft. A surgical instrument main body, a power supply cable arranged inside the shaft to supply electric power to the surgical instrument main body, formed in a cord shape from a conductive material, and arranged inside the shaft, A drive wire for transmitting a drive force for rotating the surgical instrument main body with respect to the shaft, and an insulating layer formed of a material having an insulating property and covering at least a part of an inner surface of the shaft are provided. Is characterized by.

  According to the surgical instrument for surgical assistance robot of the present invention, by providing the insulating layer on at least a part of the inner surface of the shaft, it is possible to suppress the flow of current from the surgical instrument main body to which power is supplied to the shaft through the drive wire. it can. The surgical instrument main body and the drive wire are made of a conductive material and are in conductive contact with each other. Therefore, when power is supplied to the surgical instrument main body, current can flow from the surgical instrument main body to the drive wire. On the other hand, since the insulating layer is provided on the inner surface of the shaft between the drive wire and the shaft, it is possible to prevent the current from flowing from the drive wire to the shaft. As a result, current can be suppressed from flowing from the shaft to the surgery support robot, and the risk of failure or malfunction can be reduced.

  In addition, since the shaft is made of a conductive material, it is possible to make the internal space of the shaft wider and to reduce the outer diameter of the shaft, as compared with the case of being made of an insulating material. Is possible. Here, as the conductive material, a metal material such as a steel containing chromium or a steel containing chromium and nickel (for example, SUS304 (JIS standard symbol)), aluminum, or an alloy containing aluminum. Can be illustrated. Examples of the insulating material include resin materials such as GFRP (glass fiber reinforced plastic).

  When the internal space of the shaft becomes large, the inside of the shaft can be easily cleaned when cleaning the surgical support robot surgical tool. Further, it becomes easy to avoid interference between the drive wires arranged in the shaft and interference between the drive wires and the power supply cable. When the outer diameter of the shaft is reduced, the outer diameter of the surgical instrument for a surgical assistance robot is also reduced, which facilitates miniaturization.

  In the above invention, the insulating layer covers a range of a predetermined length from a tip which is one end where the surgical instrument main body is arranged, to a rear end which is the other end of the shaft. It is preferable.

  By thus setting the range covered with the insulating layer within a predetermined length from the tip of the shaft, it becomes easier to provide the insulating layer as compared with the case where the entire inner surface of the shaft is covered with the insulating layer.

In the above invention, it is preferable that the insulating layer covers at least a region of the shaft facing a movement range of the drive wire.
By making the range covered with the insulating layer at least the region facing the movement range of the drive wire, the current from the drive wire to the shaft is applied to the shaft as in the case where the entire inner surface of the shaft is covered with the insulating layer. It can suppress the flow.

In the above invention, the insulating layer preferably covers the entire inner surface of the shaft.
By making the range covered with the insulating layer the entire inner surface of the shaft in this manner, it becomes easier to suppress the current from flowing from the drive wire to the shaft, as compared with the case of forming a part of the inner surface of the shaft.

  In the above invention, in the drive wire, an insulating cord-shaped member formed in a cord shape from a material having an insulating property, a connecting portion for connecting an end portion of the insulating cord-shaped member and an end portion of the driving wire, It is preferable that an insulating coating formed in a film shape from an insulating material that covers the insulating cord and the periphery of the connection portion is provided.

  By thus providing the drive wire with the insulating cord, the connecting portion, and the insulating coating, it is possible to suppress the flow of current from the drive wire to the surgery support robot. That is, by providing the insulating cord and the connecting portion, it is possible to block the current flowing from the surgical instrument main body toward the surgery support robot via the drive wire by the insulating cord. Further, by covering the insulating cord and the periphery of the connecting portion with the insulating coating, it is possible to suppress the flow of current from the connecting portion to the inner surface of the shaft.

  In the above invention, between the shaft and the surgical instrument body, there is provided a component made of an insulating material, and an insulating portion for insulating the surgical instrument body and the shaft from each other. Preferably.

  By providing the insulating portion that insulates the surgical instrument body from the shaft in this manner, it is possible to suppress the flow of current from the surgical instrument body to the shaft, as compared with the case where the insulating portion is not provided.

  According to the surgical assistance robot surgical instrument of the present invention, by providing an insulating layer on at least a part of the inner surface of the shaft, it is easy to reduce the risk of failure or malfunction of the surgical assistance robot to which the surgical instrument is attached. Play.

It is a schematic diagram explaining the composition of the surgical instrument for surgery assistance robots concerning one embodiment of the present invention. It is a schematic diagram explaining the structure of the surgical instrument main body of FIG. It is a schematic diagram explaining the structure of the transmission rod of FIG. It is a schematic diagram explaining the structure of the pneumatic actuator of FIG. 1 and its peripheral devices. FIG. 5 (a) is a diagram for explaining a region where a front end side insulating coating is provided, and FIG. 5 (b) is a diagram for explaining a region where a rear end side insulating coating is provided. FIG. 7 is a schematic diagram illustrating another configuration of the surgical support robot surgical instrument of FIG. 1.

  A surgical instrument for a surgical assistance robot (hereinafter also referred to as a “operative instrument”) according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6. The surgical instrument 1 according to the present embodiment is applied to a surgery support robot used for surgery such as endoscopic surgery. In this embodiment, the surgical instrument 1 will be described as being applied to an example in which the surgical instrument 1 is an electric scalpel that performs incision using a high-frequency current.

  As shown in FIG. 1, the surgical instrument 1 includes a shaft 10, a surgical instrument main body 20, an insulating portion 30, and an electric power supply cable 40 that supplies a high-frequency current to the surgical instrument main body 20. And a drive wire 50 that transmits a driving force for operating the surgical instrument main body 20 are mainly provided.

  In addition, in FIG. 1, in order to facilitate understanding, the ratio of lengths in the surgical instrument 1 is appropriately changed and shown. Specifically, the length in the X-axis direction in the figure is shorter than the actual length, and the lengths in the Y-axis direction and the Z-axis direction are longer than the actual length.

  The shaft 10 is a member formed in a tubular shape from a material having conductivity, and has insulating coatings (insulating layers) 11f and 11r provided on the inner peripheral surface thereof. A power supply cable 40 and a drive wire 50 are arranged inside the shaft 10 so as to extend in the longitudinal direction of the shaft 10 (X-axis direction in FIG. 1).

  Examples of the material having conductivity forming the shaft 10 include steel containing chromium or stainless steel containing chromium and nickel (for example, SUS304 (JIS standard symbol)), aluminum, or an alloy containing aluminum. A metal material can be illustrated.

  The insulating coatings 11 f and 11 r are made of an insulating material that covers at least a part of the inner peripheral surface of the shaft 10. Examples of the insulating material include resin materials such as PTFE (polytetrafluoroethylene) and PFA (perfluoroalkoxyalkane).

  The film thickness of the insulating coatings 11f and 11r is determined based on the voltage of the high frequency current conducted to the surgical instrument main body 20. That is, it has at least the thickness necessary to insulate the shaft 10 from the drive wire 50. For example, the thickness required for the insulation is 20 to 30 [μm].

  In the present embodiment, the insulating coating 11f is provided on the tip (the end on the positive side in the X-axis direction in FIG. 1) that is one end of the shaft 10 on which the surgical instrument main body 20 is arranged, and the insulating coating 11r is the other. The description will be made by applying to an example provided at the rear end (the end on the negative side in the X-axis direction in FIG. 1) that is the end of the. The details of the regions where the insulating coatings 11f and 11r are provided (coated) will be described later.

  The surgical instrument main body 20 is arranged at the tip of the shaft 10. As shown in FIGS. 1 and 2, the surgical instrument main body 20 includes a knife 21, a first rotating portion 22 and a second rotating portion 23 that rotatably support the knife 21 with respect to the shaft 10, and a first rotating portion. A surgical instrument base portion 24 that supports the portion 22 and the second rotating portion 23 is mainly provided. Further, the surgical instrument main body 20 is formed of a conductive material such as a metal material.

  The knife 21 makes an incision using a high frequency current supplied via the power supply cable 40. In the present embodiment, description will be made by applying it to an example in which the female 21 is of a monopolar type.

  The knife 21 is arranged so as to extend outward in the radial direction from the outer peripheral surface of the disk-shaped or column-shaped member of the first rotating portion 22. A known shape can be used as the shape of the knife 21, and the specific shape is not limited.

  The first rotating portion 22 and the second rotating portion 23 are arranged between the knife 21 and the surgical instrument base 24 side by side in the X-axis direction in FIG. 1. The first rotating portion 22 is arranged on the front end side (the positive direction side of the X axis), and the second rotating portion 23 is arranged on the rear end side (the negative direction side of the X axis).

  The first rotating portion 22 has a disk-shaped or columnar member rotatable around a rotation axis extending in the Z-axis direction in FIG. 1, and the second rotating portion 23 rotates around a rotation axis extending in the Y-axis direction. It has a rotatable disk-shaped or cylindrical member.

  In the first rotating portion 22 and the second rotating portion 23, the stranded wire 51 of the drive wire 50 is wound around the outer peripheral surface of a disk-shaped or columnar member, and the drive wire 50 is operated, The first rotating unit 22 and the second rotating unit 23 are rotationally driven.

  In FIG. 1, for ease of understanding, only the drive wire 50 that is wound around the first rotating portion 22 is shown, and the drive wire 50 that is wound around the second rotating portion 23 is omitted. ing.

  The surgical instrument base 24 is arranged at the tip of the shaft 10 via the insulating portion 30, and supports the first rotating portion 22 and the second rotating portion 23. Specifically, the surgical instrument base portion 24 directly supports the second rotating portion 23, and the second rotating portion 23 supports the first rotating portion 22. In other words, the surgical instrument base 24 indirectly supports the first rotating portion 22 via the second rotating portion 23.

  At the rear end of the surgical instrument base 24, a projection 25 to which the power supply cable 40 is connected so that high-frequency current can be conducted is provided. The protruding portion 25 is formed in a columnar shape that penetrates the insulating portion 30 described later. Further, a through hole is provided through which the stranded wire 51 of the drive wire 50 is movably inserted along the X-axis direction.

  The insulating portion 30 is a cylindrical component formed between the shaft 10 and the surgical instrument body 20 and made of an insulating material, and insulates the surgical instrument body 20 and the shaft 10 from each other. Is. Examples of the insulating material include resin materials such as PEEK (polyether ether ketone).

  A step portion 31 into which the shaft 10 is fitted is formed on the outer peripheral surface of the insulating portion 30. The shaft 10 is fitted into the small diameter portion on the rear end side of the step portion 31, and the large diameter portion on the tip side of the step portion 31 is exposed to the outside.

  Like the surgical instrument base portion 24, the insulating portion 30 is provided with a through hole through which the stranded wire 51 of the drive wire 50 is movably inserted along the X-axis direction. Further, a through hole, through which the protrusion 25 of the surgical instrument base 24 is inserted, is provided in the central region of the cylindrical insulating portion 30 so as to extend along the X-axis direction.

  The power supply cable 40 is arranged inside the shaft 10 and supplies power to the scalpel 21 of the surgical instrument main body 20. More specifically, it is arranged so as to extend along the X-axis direction in the central region of the cylindrical shaft 10. The power supply cable 40 may be any as long as it can supply a high frequency current, and its structure and material are not particularly limited.

  The end on the distal end side of the power supply cable 40 is connected to the projection 25 of the surgical instrument base 24 so that a high-frequency current can be conducted. The rear end of the power supply cable 40 is connected to a power supply 45 that supplies a high frequency current.

  In the present embodiment, an example in which the power supply 45 is arranged in the cartridge 71 of the surgery support robot to which the surgical instrument 1 is attached will be described, but the position where the power supply 45 is arranged is not limited, and the surgery support robot is not limited. The power supply 45 may be arranged in a place other than the cartridge 71. Further, the power source 45 is not limited to the type and the configuration as long as it can supply the high frequency current.

  The drive wire 50 is arranged at least inside the shaft 10 and on the outer peripheral side of the power supply cable 40, and transmits a drive force for rotating the knife 21 of the surgical instrument main body 20 with respect to the shaft 10. . The drive wire 50 has a stranded wire 51 and a transmission rod 52, as shown in FIGS. 1 and 3.

  The stranded wire 51 is formed by twisting a plurality of thin wires made of a conductive material, for example, a metal material. The stranded wire 51 is arranged so as to be wound around the first rotating portion 22 or the second rotating portion 23, and transmits a driving force to the first rotating portion 22 or the second rotating portion 23.

  As shown in FIG. 3, the transmission rod 52 is provided with a linear insulator (insulating cord) 53, a metal pipe (connecting portion) 54, and an insulating coating 55. The transmission rod 52 is arranged in series with the stranded wire 51. In other words, the transmission rod 52 is arranged between the two stranded wires 51 and connects them.

  The linear insulator 53 is formed of a material having an insulating property in a cord shape, in other words, is formed by twisting synthetic fibers. The linear insulator 53 prevents or suppresses high-frequency current from flowing through the drive wire 50 to the cartridge 71 of the surgery support robot. Examples of the insulating material include materials such as polyarylate.

  The metal pipe 54 connects the end of the linear insulator 53 and the end of the drive wire 50. In the present embodiment, description will be given by applying to an example in which the metal pipe 54 is a cylindrical member formed of a conductive metal material. In this case, the end of the drive wire 50 is inserted into one end of the metal pipe 54, and the metal pipe 54 is attached to the drive wire 50 by crushing the one end. Further, the end of the linear insulator 53 is inserted into the other end of the metal pipe 54, and the other end is crushed to attach the metal pipe 54 to the linear insulator 53.

  The insulating coating 55 is formed in a film shape from an insulating material that covers the linear insulator 53 and the metal pipe 54. The end of the insulating coating 55 on the tip side extends to the drive wire 50 beyond the metal pipe 54 on the tip side. Further, the end portion on the rear end side extends to the drive wire 50 beyond the metal pipe 54 on the rear end side. In the present embodiment, the insulating coating 55 will be described as being applied to an example in which the insulating coating 55 is a cylindrical heat-shrinkable tube that shrinks when heat is applied.

  The rear end of the drive wire 50, in other words, the end of the stranded wire 51, is connected to a pneumatic actuator 61 that generates a driving force, as shown in FIGS. Note that, in FIG. 1, only the pair of pneumatic actuators 61 connected to the drive wire 50 wound around the first rotating portion 22 is illustrated, and the pair of pneumatic actuators 61 connected to the drive wire 50 hanging around the second rotating portion 23. The pneumatic actuator 61 is not shown.

  The pneumatic actuator 61 generates a driving force for rotating the knife 21 of the surgical instrument main body 20. The pneumatic actuator 61 is mainly provided with a piston 62 and a cylinder 63.

  The piston 62 is arranged so as to be linearly movable relative to the cylinder 63. One end of the stranded wire 51 is arranged in a portion of the piston 62 protruding from the cylinder 63.

  The cylinder 63 is a member formed in a tubular shape with both ends closed. The internal space of the cylinder 63 is divided into two by the piston 62. The cylinder 63 is provided with a pipe for supplying the pressurized air supplied from the air supply unit 64 to the two compartments.

  A valve 65 that controls the supply destination of the boosted air is provided between the cylinder 63 and the air supply unit 64. The valve 65 controls a destination to which the air whose pressure has been increased is supplied from the air supply unit 64. Specifically, it is a valve that selects whether to supply the pressurized air to one of the two compartments of the cylinder 63 or to the other. As the type of the valve 65, a known type can be used.

  In the present embodiment, description will be made by applying to an example in which the pneumatic actuator 61, the valve 65, the pipe used for supplying air, and the like are arranged in the cartridge 71 of the surgery support robot. The pneumatic actuator 61 and the like may be arranged in a place other than the cartridge 71 of the surgery support robot.

  Next, details of the regions where the insulating coatings 11f and 11r are provided (coated) will be described with reference to FIGS. 5A and 5B. Here, FIG. 5A is a diagram for explaining a region where the insulating coating 11f is provided, and FIG. 5B is a diagram for explaining a region where the insulating coating 11r is provided.

  As shown in FIGS. 5A and 5B, the insulating coatings 11f and 11r at least cover the region MR of the inner peripheral surface of the shaft 10 facing the moving range of the stranded wire 51 of the drive wire 50. Is provided. In addition, in the present embodiment, description will be given by applying to an example in which the insulating coatings 11f and 11r are provided in a range wider than the region MR facing the movement range.

  Here, in the region MR facing the movement range corresponding to the insulating coating 11f, as shown in FIG. 5A, the transmission rod 52 moves to a position farthest from the insulating portion 30 (most in the negative direction of the X axis). This is a region facing the stranded wire 51 when moved). In FIG. 5A, it corresponds to the range from the end of the insulating portion 30 in the negative X-axis direction to the end of the insulating coating 55 of the transmission rod 52 in the positive X-axis direction.

  In a region MR facing the moving range corresponding to the insulating coating 11r, as shown in FIG. 5B, the transmission rod 52 moves to a position farthest from the cartridge 71 (most moving in the positive direction of the X axis). This is a region facing the stranded wire 51 in the case of doing. In FIG. 5B, it corresponds to the range from the end of the cartridge 71 in the positive X-axis direction to the end of the insulating coating 55 of the transmission rod 52 in the negative X-axis.

  More specifically, the insulating coating 11f provided on the tip end is provided so as to cover the first predetermined range R1 from the tip end to the rear end of the shaft 10, as shown in FIG. 5 (a). . Here, the end of the first predetermined range R1 on the negative side of the X axis is provided at a position further away from the region MR facing the moving range by the margin M1 on the negative side of the X axis. .

  As shown in FIG. 5B, the insulating coating 11r provided on the rear end is provided so as to cover the second predetermined range R2 from the rear end to the front end of the shaft 10. Here, the end of the second predetermined range R2 on the negative side of the X axis is provided at a position further away from the region MR facing the movement range by the margin M2 on the negative side of the X axis. .

  The allowance M1 and the allowance M2 are such that the stranded wire 51 and the shaft 10 can be insulated from each other. Therefore, it can be set based on the distance between the stranded wire 51 and the shaft 10 and the voltage of the high frequency current supplied to the surgical instrument main body 20. The allowance M1 and the allowance M2 are values that are equal to or greater than the creepage distance and the spatial distance with respect to the maximum peak voltage of the device used based on the IEC60601 standard.

Next, the operation of the surgical instrument 1 having the above configuration will be described. First, the rotating operation of the surgical instrument main body 20 will be described with reference to FIGS. 1 and 4.
When rotating the scalpel 21 of the surgical instrument main body 20 around the axis extending in the Z-axis direction, as shown in FIG. 1, the first rotating portion 22 is rotated. The first rotating unit 22 is rotated by pulling one of the driven drive wires 50 in the negative direction of the X axis and feeding the other in the positive direction of the X axis.

  The driving wire 50 is pulled out by the driving force generated by the pneumatic actuator 61 as shown in FIG. Specifically, the boosted air supplied from the air supply unit 64 is supplied to the pneumatic actuator 61 to generate a driving force.

  The internal space of the cylinder 63 is divided into two parts by the piston 62, and whether the driving force is generated in the pulling direction or the feeding direction is selected by selecting the section to which the pressurized air is supplied. Controlled. The selection of the section for supplying the pressurized air is performed by the valve 65.

  Further, when rotating the knife 21 of the surgical instrument main body 20 around the axis extending in the Y-axis direction, as shown in FIG. 1, the second rotating portion 23 is rotated. The rotation of the second rotating portion 23 is performed in the same manner as the rotation of the first rotating portion 22, and thus a detailed description thereof will be omitted.

  Next, a method of making an incision by the scalpel 21 of the surgical instrument main body 20 will be described with reference to FIG. When the incision is made by the knife 21, a high frequency current is supplied from the power supply 45 to the knife 21. The high frequency current is applied to the surgical instrument base 24 of the surgical instrument main body 20 via the power supply cable 40. The high-frequency current flows from the surgical instrument base 24 to the knife 21 via the first rotating portion 22 and the second rotating portion 23. The knife 21 makes an incision using the supplied high-frequency current.

  According to the surgical assistance robot surgical instrument 1 having the above-described configuration, by providing the insulating coatings 11f and 11r on at least a part of the inner surface of the shaft 10, the surgical instrument main body 20 to which power is supplied via the drive wire 50. It is possible to prevent the current from flowing to the shaft 10. The surgical instrument main body 20 and the drive wire 50 are formed of a material having conductivity and are in conductive contact with each other. Therefore, when power is supplied to the surgical instrument main body 20, a current can flow from the surgical instrument main body 20 to the drive wire 50.

  On the other hand, since the insulating coatings 11f and 11r are provided on the inner surface of the shaft 10 between the drive wire 50 and the shaft 10, it is possible to suppress the current from flowing from the drive wire 50 to the shaft 10. As a result, it is possible to suppress the current from flowing from the shaft 10 to the surgery support robot, and reduce the risk of failure or malfunction.

  Further, since the shaft 10 is formed of a material having conductivity, it is possible to widen the internal space of the shaft 10 and to increase the outer diameter of the shaft 10 as compared with the case where the shaft 10 is formed of a material having insulating properties. It is possible to make it smaller.

  When the internal space of the shaft 10 becomes wider, the inside of the shaft 10 can be easily cleaned when cleaning the surgical instrument 1 for a surgical assistance robot. Further, it becomes easy to avoid interference between the drive wires 50 arranged in the shaft 10 and interference between the drive wires 50 and the power supply cable 40. When the outer diameter of the shaft 10 is reduced, the outer diameter of the surgical instrument 1 for surgical assistance robot is also reduced, which facilitates miniaturization.

  By setting the range covered by the insulating coatings 11f and 11r to a range of a predetermined length from the tip of the shaft 10, the insulating coatings 11f and 11r are provided as compared with the case where the entire inner surface of the shaft 10 is covered with an insulating layer. It will be easier.

  By making the range covered by the insulating coatings 11f and 11r at least the region MR facing the moving range of the drive wire 50, the drive wire 50 is removed from the drive wire 50 similarly to the case where the entire inner surface of the shaft 10 is covered with the insulating coating. It is possible to prevent the current from flowing to the shaft 10.

  By providing the drive wire 50 with the transmission rod 52 having the linear insulator 53, the metal pipe 54, and the insulating coating 55, it becomes easy to suppress the flow of current from the drive wire 50 to the surgery support robot. That is, by providing the linear insulator 53 and the metal pipe 54, it is possible to interrupt the current flowing from the surgical instrument main body 20 toward the surgery support robot via the drive wire 50 by the linear insulator 53. .

  Further, by covering the periphery of the linear insulator 53 and the metal pipe 54 with the insulating coating 55, it is possible to suppress the flow of current from the metal pipe 54 to the inner surface of the shaft 10.

  Further, by covering the periphery of the linear insulator 53 and the metal pipe 54 with the insulating coating 55, even if the transmission rod 52 comes into contact with the inner surface of the shaft 10, the insulating coatings 11f and 11r provided on the shaft 10 are damaged. Hard to give. As a result, it becomes easy to suppress the deterioration of the insulating performance due to the insulating coatings 11f and 11r.

  By providing the insulating portion 30 that insulates between the surgical instrument main body 20 and the shaft 10, it is possible to suppress the current from flowing from the surgical instrument main body 20 to the shaft 10 as compared with the case where the insulating portion 30 is not provided.

  In the above-described embodiment, the description has been made by applying to the example in which the insulating coating 11f and the insulating coating 11r are separately provided on the front end side and the rear end side of the inner surface of the shaft 10, respectively, but as shown in FIG. An insulating coating (insulating layer) 11 a may be provided on the inner peripheral front surface of the shaft 10.

  By making the range covered with the insulating coating 11a the entire inner surface of the shaft 10, the inner surface of the shaft 10 is not exposed as compared with the case where the inner surface of the shaft 10 is partially exposed. It becomes easy to suppress the flow of current.

  The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, in the above-described embodiment, the surgical instrument 1 is described as being applied to an example in which the surgical knife is an electric scalpel that performs incision using high-frequency current, but the surgical instrument 1 may be an instrument that uses current, for example, Alternatively, it may be a device that uses a high-frequency current to stop hemostasis.

  DESCRIPTION OF SYMBOLS 1 ... Operation tool (operation tool for surgery support robot), 10 ... Shaft, 11f, 11r, 11a ... Insulation coating (insulation layer), 20 ... Operation tool main body, 30 ... Insulation part, 40 ... Power supply cable, 50 ... Drive Wire, 53 ... Linear insulator (insulating cord), 54 ... Metal pipe (connecting portion), 55 ... Insulating film

Claims (6)

A shaft formed in a cylindrical shape from a material having conductivity,
A surgical instrument main body disposed at one end of the shaft and rotatably disposed with respect to the shaft,
A power supply cable arranged inside the shaft to supply power to the surgical instrument body,
A drive wire that is formed in a cord shape from a material having electrical conductivity, is disposed inside the shaft, and transmits a drive force that rotates the surgical instrument main body with respect to the shaft,
An insulating layer formed of a material having an insulating property that covers at least a part of the inner surface of the shaft,
A surgical aid robot surgical instrument characterized by being provided.   The insulating layer covers a range of a predetermined length from a tip which is one end of the shaft where the surgical instrument main body is arranged to a rear end which is the other end. The surgical instrument for a surgical assistance robot according to claim 1.   The surgical support robot surgical instrument according to claim 1, wherein the insulating layer covers at least a region of the shaft facing a movement range of the drive wire.   The surgical support robot surgical instrument according to claim 1, wherein the insulating layer covers the entire inner surface of the shaft.   In the drive wire, an insulating cord-shaped body formed in a cord shape from an insulating material, a connecting portion connecting an end portion of the insulating cord-shaped body and an end portion of the drive wire, and the insulating cord shape. The surgical support according to any one of claims 1 to 4, further comprising: an insulating coating formed in a film shape from an insulating material that covers the body and the periphery of the connection portion. Robot surgical tools.   Between the shaft and the surgical instrument body, there is provided a component made of an insulating material, and an insulating portion for insulating the surgical instrument body and the shaft from each other. The surgical assisting robot surgical instrument according to any one of claims 1 to 5.