JP2021108817A - Operation instrument system, operation instrument and fixture - Google Patents

Abstract

To provide an operation instrument system, an operation instrument and a fixture which can suppress unintended movement of an operation instrument.SOLUTION: An operation instrument system comprises: a fixture having at least an insertion part 55; and an operation instrument comprising at least a follower 25, a main body for holding the follower 25 so as to relatively move freely, a suppression part 31 for suppressing relative movement of the follower 25, and a support part 35 for supporting the inserted insertion part 55 in a rotatable state around an axis line extending in a longitudinal direction. On a side face of the insertion part 55 facing the suppression part 31 when being inserted into the support part 35, there are provided a suppression region 62 which is configured to move the suppression part 31 to a position for suppressing relative movement of the follower 25 according to rotation of the insertion part 55, and a non-suppression region 63 which is configured to move the suppression part to a position for permitting relative movement of the follower 25.SELECTED DRAWING: Figure 5

Description

The present invention relates to surgical instrument systems, surgical instruments and fixtures.

During medical procedures such as surgery using a medical robot, the supply of electric power to the medical robot may be stopped due to an emergency stop or the like. It is required to prevent the treatment unit of the surgical tool provided on the medical robot from moving unintentionally by the operator during the period when the power supply is stopped. Here, the forceps can be exemplified as the surgical tool, and the gripping portion can be exemplified as the treatment portion.

As a technique for preventing unintended movement of the treatment portion, for example, a technique has been proposed in which a rotation lock mechanism is provided in the drive portion to prevent the moving part of the surgical instrument from moving in an unnecessary direction (see Patent Document 1). ..

Special Table 2019-521786

The driven interface of the driven disk in the appliance described in Patent Document 1 includes an engaging receptacle, a driven dog receptacle, and a non-rotatable element. It is disclosed that upon engaging the non-rotatable element, the rotation locking mechanism engages the driven disc receptacle and impedes the rotation of the driven disc.

However, the specific configuration of the rotation lock mechanism of the non-rotatable element and the operation method thereof are not disclosed. Therefore, there is a possibility that a problem may occur in which the surgical tool operates during the operation because the operation for suppressing the unintended movement of the surgical tool is complicated. In addition, there is a possibility that a problem of insufficient suppression of operation may occur.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a surgical tool system, a surgical tool, and a fixture that can be easily operated to suppress an unintended movement of the surgical tool.

In order to achieve the above object, the present invention provides the following means.
The surgical instrument system according to the first aspect of the present invention holds a fixture having at least an insertion portion extending in a rod shape, a driven portion for transmitting a driving force to the movable portion, and the driven portion so as to be relatively movable in a predetermined direction. The main body to be inserted, a restraining portion configured to be capable of suppressing the relative movement of the driven portion with respect to the main body by moving in a direction intersecting the predetermined direction and toward the driven portion and the main body. At least a support portion that allows the inserted portion to be brought into contact with the restraining portion when the insertion portion is inserted and rotatably supports the inserted insertion portion around an axis extending in the longitudinal direction. A surgical tool to be provided is provided, and when the insertion portion is inserted into the support portion, the restraining portion is moved relative to the driven portion on the side surface of the insertion portion facing the restraining portion in accordance with the rotation of the insertion portion. It is characterized in that a restraining region configured to move to a restraining position and a non-suppressing region configured to move the driven portion to a position allowing relative movement are provided.

The surgical tool according to the second aspect of the present invention intersects the driven portion that transmits the driving force to the movable portion, the main body that holds the driven portion so as to be relatively movable in a predetermined direction, and the predetermined direction. The main body has at least a restraining portion configured to be able to suppress the relative movement of the driven portion with respect to the main body by moving in the direction toward the driven portion and the main body, and the main body is provided with a fixture. When the rod-shaped insertion portion is inserted, the inserted insertion portion can come into contact with the restraining portion, and a support portion that rotatably supports the inserted insertion portion around an axis extending in the longitudinal direction is provided. The restraining portion is provided, and when inserted into the supporting portion, the restraining portion is moved to a position where the relative movement of the driven portion is suppressed by a restraining region provided in a predetermined region on the side surface of the insertion portion facing the restraining portion. The driven portion is moved to a position where the relative movement of the driven portion is allowed by a non-suppressing region provided in another predetermined region of the side surface.

The fixture according to the third aspect of the present invention intersects the driven portion that transmits the driving force to the movable portion, the main body that holds the driven portion so as to be relatively movable in a predetermined direction, and the predetermined direction. Suppresses the movement of the driven portion in a surgical instrument having at least a restraining portion configured to move in a direction toward the driven portion and the main body to suppress the relative movement of the driven portion with respect to the main body. It is a fixture used in the case of making a rod, which is formed so as to extend in a rod shape, and when it is inserted into a support portion provided in the main body, it can come into contact with the restraining portion and around an axis extending in the longitudinal direction of itself. The insertion portion has an insertion portion that is rotatably supported, and when the insertion portion is inserted into the support portion, the suppression portion is placed on the side surface of the insertion portion that faces the suppression portion. It is characterized in that a restraining region configured to move the relative movement of the driven portion to a position to be restrained and a non-suppressing region configured to move the driven portion to a position allowing the relative movement of the driven portion are provided. do.

According to the surgical tool system according to the first aspect of the present invention, the surgical tool according to the second aspect, and the fixing tool according to the third aspect, the fixing tool is inserted into the surgical tool and the fixing tool is rotated. It is possible to switch the suppression and tolerance of the relative movement of the driven part with respect to the main body. Specifically, when the insertion portion is inserted into the support portion and the insertion portion is rotated in a phase in which the suppression region faces the suppression portion, the suppression portion moves to a position where the relative movement of the driven portion is suppressed. Further, when the insertion portion is rotated in a phase in which the non-suppressing region faces the suppressing portion, the suppressing portion moves to a position where the relative movement of the driven portion is allowed.

In the first aspect of the present invention, it is preferable that the support portion is configured so that the insertion portion can pass through when the non-suppression region and the suppression portion are in opposite phases.
By doing so, the insertion portion can pass through the support portion when the phase of the insertion portion is such that the non-suppressing region and the suppressing portion face each other. In other words, when the phase of the insertion portion is such that the suppression region and the suppression portion face each other, the insertion portion cannot pass through the support portion. Therefore, when the insertion portion is inserted into the support portion, interference between the insertion portion and the suppression portion is suppressed.

When the non-suppressing region of the insertion portion inserted in the first aspect of the present invention and the suppression portion face each other, the insertion portion rotates on the side surface of the insertion portion facing the support portion. A limiting region configured to limit the phase range is provided, and the supporting portion can insert the limiting region of the insertion portion, and can limit the phase range in which the insertion portion rotates together with the limiting region. It is preferably configured.

By providing the limiting region in this way, it is possible to prevent the insertion portion from rotating beyond the range allowed by the limiting region. Therefore, it is possible to prevent the suppressing unit from making an unintended movement.

In the first aspect of the present invention, the support portion is provided with a through hole through which the insertion portion is inserted, and the through hole is configured so that the insertion portion can be inserted through either of the two openings. Is preferable.

By doing so, the fixture can be inserted into the surgical instrument from two different directions. Therefore, as compared with the case where the fixture is inserted in only one direction, the fixture can be easily inserted even if the posture of the surgical instrument changes.

According to the surgical instrument system, the surgical instrument and the fixture of the present invention, by rotating the fixture inserted into the surgical instrument, it is possible to switch the suppression and tolerance of the relative movement of the driven portion with respect to the main body, and thus the surgical instrument. It has the effect of making it easier to perform operations that suppress unintended movements.

It is a perspective view which shows the surgical instrument system which concerns on one Embodiment of this invention. It is a figure which shows the surgical instrument of FIG. It is a figure which shows the internal structure of the surgical instrument of FIG. It is a perspective view which shows the fixture of FIG. It is a figure which shows the positional relationship of the insertion part and the suppression part. It is a figure which shows the pushing down of the holding part by an insertion part. It is a figure which shows the suppression of the relative movement of a driven part by a holding part. It is a figure which shows the relationship between the 1st region of an insertion part and a regulation hole. It is a figure which shows the relationship between the 2nd region of an insertion part and a regulation hole. It is a figure which shows the relationship between the 2nd region of an insertion part and a regulation hole.

The surgical instrument system according to the embodiment of the present invention will be described with reference to FIGS. 1 to 10. The surgical tool system 1 of the present embodiment is used for a multi-degree-of-freedom manipulator having a multi-degree-of-freedom arm that can be remotely controlled. The surgical instrument system 1 will be described by applying it to an example having a configuration such as forceps used for treating a patient, for example, performing endoscopic surgery.

As shown in FIG. 1, the surgical tool system 1 is mainly provided with a surgical tool 10 and a fixture 50.
The surgical tool 10 has a configuration in which it is gripped by a multi-degree-of-freedom manipulator having a multi-degree-of-freedom arm that can be remotely controlled. In the present embodiment, the surgical tool 10 will be described by applying it to an example having a configuration such as forceps used for treating a patient, for example, performing endoscopic surgery.

In this embodiment, in order to facilitate the explanation, the direction in which the shaft 11 extends is defined as the Z axis, and the direction toward the tip of the shaft 11 is defined as the positive direction. Further, the direction orthogonal to the Z-axis and the direction in which the driven portions 25, which will be described later, are lined up will be the X-axis, and the left direction toward the positive direction of the Z-axis will be described as the positive direction. Further, the direction orthogonal to the Z-axis and the X-axis will be described as the Y-axis, and the direction from the surface in which the driven portions 25 are lined up to the opposite surface in the main body 21 will be described as the positive direction.

As shown in FIG. 2, the surgical tool 10 is mainly provided with a shaft 11 and a main body 21.
The shaft 11 is a member that extends from the main body 21 in the positive direction of the Z axis and is a rod-shaped member that is inserted into the patient's body. In this embodiment, the case where the shaft 11 has a columnar or cylindrical structure will be described.

A joint portion (corresponding to a movable portion) 12 and forceps 13 are provided at the end portion of the shaft 11 in the positive direction of the Z axis.
The joint portion 12 has a configuration in which the direction of the forceps 13 can be changed by a driving force transmitted from a driven portion 25 described later. As a specific configuration of the joint portion 12, a known configuration can be used.

The forceps 13 has a known forceps configuration for treating the patient. Although the present embodiment will be described by applying the forceps 13 to the tip of the shaft 11, other instruments used for treating the patient may be arranged.

The main body 21 has a configuration in which it is detachably fixed to a multi-degree-of-freedom manipulator. As shown in FIG. 1, the shaft 11 is arranged at the end of the main body 21 in the positive direction of the Z axis. The housing 22 that constitutes the outer shape of the main body 21 is provided with two insertion holes 23 into which the fixture 50 is inserted.

The insertion hole 23 is a through hole formed in a region of the housing 22 in which the driven portion 25 moves relative to each other. In the present embodiment, it is formed in the central region of the housing 22 in the Z-axis direction. Further, the insertion holes 23 are formed at both ends of the housing 22 in the X-axis direction.

Further, as shown in FIG. 2, the main body 21 is provided with a driven groove 24 and a driven portion 25.
The driven groove 24 is an elongated hole provided in the end face of the main body 21 in the negative direction of the Y axis. In other words, it is an elongated hole provided on the surface attached to and detached from the multi-degree-of-freedom manipulator. Further, the driven groove 24 has a structure extending along the Z axis.

In the present embodiment, the three driven grooves 24 are arranged side by side at equal intervals in the X-axis direction. The number of driven grooves 24 can be determined based on the movement of the joint portion 12, the forceps 13, and the like. Therefore, the number of driven grooves 24 may be more or less than three.

The driven portion 25 has a configuration in which the driving force is transmitted from the multi-degree-of-freedom manipulator and the driving force is transmitted to the joint portion 12 and the forceps 13. Further, the driven unit 25 has a configuration that can be attached to and detached from the multi-degree-of-freedom manipulator.

The driven portion 25 is arranged in each of the three driven grooves 24, and is arranged so as to be relatively movable in the Z-axis direction inside the driven groove 24. Of the three driven portions 25, the two driven portions 25 arranged at both ends have a configuration for transmitting a driving force to the joint portion 12. Specifically, wires 26 for transmitting a driving force are arranged in the two driven portions 25. Further, the driven portion 25 arranged at the center has a configuration for transmitting a driving force to the forceps 13. Specifically, a rod 27 for transmitting a driving force is arranged in the driven portion 25 at the center.

As shown in FIG. 3, a suppressing portion 31 and a supporting portion 35 are mainly provided inside the main body 21.
The restraining portion 31 is a plate-shaped member arranged at a position facing the two driven portions 25 arranged at both ends. Specifically, it is a plate-shaped member arranged along the YZ plane. The suppressing portion 31 is provided so as to be movable relative to the main body 21 and the driven portion 25 in the Y-axis direction. The end of the restraining portion 31 in the positive direction of the Y-axis is arranged so as to be close to and separated from the vicinity of the regulation hole 36 described later, and the end of the restraining portion 31 in the negative direction of the Y-axis can be brought close to and separated from the gap G between the main body 21 and the driven portion 25. Be placed.

The support portion 35 has a configuration in which the fixture 50 inserted into the insertion hole 23 is supported and rotatably supported around the axis of the insertion portion 55, which will be described later.
A regulation hole (corresponding to a through hole) 36 is provided at a position of the support portion 35 facing the insertion hole 23. The regulation hole 36 is a through hole formed so as to extend in the X-axis direction, and is a through hole into which the insertion portion 55 is inserted.

The regulation hole 36 is provided with a regulation surface 37 that regulates the rotating phase range of the insertion portion 55.
The regulation surface 37 has a configuration in which it comes into contact with the first plane 72 and the second plane 73, which will be described later, to regulate the phase range. The regulation surface 37 of the present embodiment has a configuration formed in a plane shape among the peripheral surfaces of the regulation hole 36. Specifically, it is a surface formed in a region on the negative direction side of the Y-axis of the peripheral surface of the regulation hole 36, and is a surface formed extending along the ZX plane.

The insertion hole 23 and the regulation hole 36 have a configuration that does not limit the insertion direction of the fixture 50. That is, it has a configuration that allows an insertion direction from the positive direction to the negative direction of the X-axis and an insertion direction from the negative direction to the positive direction. As shown in FIG. 3, the number of the regulation holes 36 may be two, more than two, or less.

The fixture 50 has a configuration in which the relative movement of the driven portion 25 with respect to the main body 21 is suppressed and allowed to be switched. As shown in FIG. 4, the fixture 50 is mainly provided with a grip portion 51 and an insertion portion 55 extending from the grip portion 51 in a columnar shape.

The grip portion 51 is a portion gripped by an operator who suppresses the relative movement of the driven portion 25 and switches the permissible movement. The shape of the grip portion 51 may be any shape as long as it can be gripped by the operator and the insertion portion 55 can be rotated.

The insertion portion 55 is a portion to be inserted into the insertion hole 23 of the surgical tool 10, and has a configuration in which the suppression portion 31 is relatively moved with respect to the main body 21 and the driven portion 25. The insertion portion 55 is mainly provided with a first region 61 and a second region (corresponding to a restricted region) 71.

The first region 61 is a region facing the restraining portion 31 when the inserting portion 55 is inserted into the insertion hole 23. Specifically, it is a region on the tip end side and the gripping portion 51 side of the insertion portion 55. The first region 61 has a cross-sectional shape similar to that of the regulation hole 36. The first region 61 is mainly provided with a suppression region 62 and a non-suppression region 63.

The suppression region 62 is a region on the side surface of the first region 61, and is a region for moving the suppression unit 31 to a position where the relative movement of the driven unit 25 is suppressed. Specifically, it is a region having a circumferential surface of the insertion portion 55 having a cylindrical shape. The side surface of the restraining region 62 is farther from the rotation center of the insertion portion 55 than the side surface of the non-suppressing region 63.

The non-suppressing region 63 is a region on the side surface of the first region 61, and is a region for moving the suppressing portion 31 to a position where the relative movement of the driven portion 25 is allowed. Specifically, it is a flat region formed on the circumferential surface of the insertion portion 55 having a cylindrical shape. The side surface of the non-suppressing region 63 is closer to the rotation center of the insertion portion 55 than the side surface of the suppressing region 62.

The second region 71 is a region that limits the phase range in which the insertion portion 55 inserted into the insertion hole 23 rotates. Specifically, it is a region near the center of the insertion portion 55, and is a region facing the regulation hole 36 when the insertion portion 55 is inserted into the insertion hole 23.

The second plane 71 is mainly provided with a first plane 72 and a second plane 73. The first plane 72 and the second plane 73 are surfaces that abut on the regulation surface 37 of the regulation hole 36 and regulate the phase range in which the insertion portion 55 rotates.

The first plane 72 is a side surface of the second region 71, and is a plane forming the same plane as the non-suppressed region 63. The second plane 73 is a side surface of the second region 71, and is a surface that intersects the first plane 72 at a predetermined angle. The angle at which the first plane 72 and the second plane 73 intersect is determined based on the phase range in which the insertion portion 55 rotates.

Next, the operation of suppressing the relative movement of the driven portion 25 in the surgical tool system 1 having the above configuration will be described. The relative movement of the driven unit 25 is allowed while the suppression operation is not performed.

In the restraining operation, as shown in FIG. 1, the fixture 50 is inserted into the surgical tool 10. Specifically, the insertion portion 55 of the fixture 50 is inserted into the insertion hole 23 of the main body 21. The insertion portion 55 may be inserted from the positive side to the negative side of the X-axis, or may be inserted from the negative side to the positive side.

The tip of the insertion portion 55 inserted into the insertion hole 23 enters the regulation hole 36 as shown in FIG. At this time, the fixture 50 takes a posture in which the non-suppressing region 63 of the insertion portion 55 faces the negative direction of the Y axis. In other words, the non-suppressing region 63 of the insertion portion 55 and the regulation surface 37 of the regulation hole 36 face each other and take a posture of being substantially parallel to each other.

The fixture 50 is inserted to a position where the second region 71 of the insertion portion 55 and the regulation hole 36 face each other. In other words, the two first regions 61 of the insertion portion 55 and the two suppression portions 31 are inserted to positions facing each other.

After that, the fixture 50 is rotated around the axis of the insertion portion 55 as shown in FIG. Before the insertion portion 55 rotates, the non-suppressing region 63 of the insertion portion 55 and the suppressing portion 31 are in contact with each other. When the insertion portion 55 rotates, the suppression region 62 of the insertion portion 55 comes into contact with the suppression portion 31. The suppression portion 31 moves in the negative direction of the Y-axis by the suppression region 62 of the insertion portion 55.

As shown in FIG. 7, the negative end of the Y-axis in the restraining portion 31 is inserted into the gap G between the main body 21 and the driven portion 25. The driven portion 25 is restrained from moving relative to the main body 21 by the restraining portion 31 inserted into the gap G.

When the insertion portion 55 is rotated in the opposite direction and the non-suppressing region 63 faces the suppressing portion 31, the suppressing portion 31 moves in the positive direction of the Y-axis due to the urging force acting in the positive direction of the Y-axis. In other words, the suppressing portion 31 moves in a direction away from the gap G between the main body 21 and the driven portion 25. When the suppressing portion 31 is separated from the gap G, the relative movement between the driven portion 25 and the main body 21 is allowed.

Next, the regulation of rotation of the fixture 50 inserted into the surgical instrument 10 will be described. First, a case where the fixture 50 is insufficiently inserted will be described with reference to FIG.
When the fixture 50 is insufficiently inserted, the first region 61 of the insertion portion 55 faces the regulation hole 36. At this time, the non-suppressing region 63 of the first region 61 faces the regulation surface 37 of the regulation hole 36. When the insertion portion 55 tries to rotate about the axis, the non-suppressing region 63 and the regulation surface 37 interfere with each other. Therefore, the insertion portion 55 is restricted from rotating in either rotation direction.

Next, a case where the fixture 50 is inserted to a position where the relative movement of the driven portion 25 can be suppressed will be described with reference to FIGS. 9 and 10. Specifically, a case where the second region 71 of the insertion portion 55 and the regulation hole 36 are inserted to a position facing each other will be described.

FIG. 9 shows a state in which the fixture 50 is in a rotation phase that allows the relative movement of the driven portion 25. At this time, the first plane 72 of the insertion portion 55 faces the regulation surface 37 of the regulation hole 36. The insertion portion 55 is allowed to rotate in the direction in which the second plane 73 approaches the regulation surface 37. Rotation in the opposite direction is restricted because the first plane 72 and the regulation surface 37 interfere with each other.

FIG. 10 shows a state in which the fixture 50 has a rotation phase that suppresses the relative movement of the driven portion 25. At this time, the second plane 73 of the insertion portion 55 faces the regulation surface 37 of the regulation hole 36. The insertion portion 55 is allowed to rotate in the direction in which the first plane 72 approaches the regulation surface 37. The rotation in the opposite direction is restricted because the end portion on the peripheral surface side of the second plane 73 and the regulation surface 37 interfere with each other.

According to the surgical tool system 1, the surgical tool 10 and the fixing tool 50 having the above configuration, the fixing tool 50 is inserted into the surgical tool 10 and the fixing tool 50 is rotated to suppress the relative movement of the driven portion 25 with respect to the main body 21. And the tolerance can be switched. Specifically, when the insertion portion 55 is inserted into the support portion 35 and the insertion portion 55 is rotated in a phase in which the suppression region 62 faces the suppression portion 31, the suppression portion 31 is in a position where the relative movement of the driven portion 25 is suppressed. Move to. Further, when the insertion portion 55 is rotated in a phase in which the non-suppressing region 63 faces the suppressing portion 31, the suppressing portion 31 moves to a position where the relative movement of the driven portion 25 is allowed.

When the phase of the insertion portion 55 is such that the non-suppression region 63 and the suppression portion 31 face each other, the insertion portion 55 can pass through the support portion 35. In other words, when the phase of the insertion portion 55 is such that the suppression region 62 and the suppression portion 31 face each other, the insertion portion 55 cannot pass through the support portion 35. Therefore, when the insertion portion 55 is inserted into the support portion 35, interference between the insertion portion 55 and the suppression portion is suppressed.

By providing the second region 71, it is possible to prevent the insertion portion 55 from rotating beyond the range allowed by the second region 71. Therefore, it is suppressed that the suppressing unit 31 makes an unintended movement.

Since the regulating hole 36 is a through hole, the fixture 50 can be inserted into the surgical tool 10 from two different directions. Therefore, as compared with the case where the fixture 50 is inserted in only one direction, the fixture 50 can be easily inserted even if the posture of the surgical tool 10 changes.

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. In the present embodiment, the example in which the forceps 13 are arranged on the shaft 11 of the surgical instrument 10 has been described, but the one arranged on the shaft 11 may be any of all the instruments used for the treatment of the patient. good.

1 ... surgical tool system, 10 ... surgical tool, 12 ... joint part (movable part), 21 ... main body, 31 ... suppression part, 35 ... support part, 36 ... regulation hole (through hole), 50 ... fixture, 55 ... Insertion part, 62 ... Suppressed area, 63 ... Non-suppressed area, 71 ... Second area (restricted area)

Claims (6)

A fixture with at least a rod-shaped insertion part and
A driven portion that transmits a driving force to a movable portion, a main body that holds the driven portion so as to be relatively movable in a predetermined direction, and a direction that intersects the predetermined direction and is toward the driven portion and the main body. The restraining portion configured to be able to suppress the relative movement of the driven portion with respect to the main body by moving to the main body, and the insertion portion inserted when the insertion portion is inserted can be brought into contact with the suppressing portion. A surgical tool having at least a support portion that rotatably supports the inserted insertion portion around an axis extending in the longitudinal direction.
Is provided,
When inserted into the support portion, the side surface of the insertion portion facing the restraining portion is configured to move the suppressing portion to a position where the relative movement of the driven portion is suppressed according to the rotation of the insertion portion. A surgical instrument system characterized in that a restrained region is provided and a non-suppressed region configured to move the driven portion to a position allowing relative movement is provided. The surgical tool system according to claim 1, wherein the support portion is configured so that the insertion portion can pass through when the non-suppression region and the suppression portion are in opposite phases. When the non-suppressing region of the inserted insertion portion and the suppression portion face each other, the side surface of the insertion portion facing the support portion is configured to be able to limit the phase range in which the insertion portion rotates. Restricted area is provided
The support portion according to claim 1 or 2, wherein the limiting region of the insertion portion can be inserted, and the phase range in which the insertion portion rotates together with the limiting region can be limited. Described surgical instrument system. The support portion is provided with a through hole through which the insertion portion is inserted.
The surgical tool system according to any one of claims 1 to 3, wherein the through hole is configured so that the insertion portion can be inserted through either of the two openings. A driven portion that transmits a driving force to a movable portion, a main body that holds the driven portion so as to be relatively movable in a predetermined direction, and a direction that intersects the predetermined direction to the driven portion and the main body. It has at least a restraining portion configured to be able to move in the direction toward the main body and suppress the relative movement of the driven portion with respect to the main body.
When the rod-shaped insertion portion of the fixture is inserted into the main body, the insertion portion inserted can come into contact with the restraining portion, and the inserted insertion portion is rotated around an axis extending in the longitudinal direction. A support part that supports it movably is provided,
When the restraining portion is inserted into the supporting portion, the restraining portion is moved to a position where the relative movement of the driven portion is suppressed by a restraining region provided in a predetermined region on the side surface of the inserting portion facing the restraining portion. A surgical tool characterized in that the driven portion is moved to a position that allows relative movement by a non-suppressing region provided in another predetermined region on the side surface. A driven portion that transmits a driving force to a movable portion, a main body that holds the driven portion so as to be relatively movable in a predetermined direction, and a direction that intersects the predetermined direction to the driven portion and the main body. A fixture used to suppress the movement of the driven portion in a surgical instrument having at least a restraining portion configured to move in a direction toward the main body and suppress the relative movement of the driven portion with respect to the main body.
It has an insertion part that is formed so as to extend in a rod shape, can come into contact with the restraining part when inserted through a support part provided in the main body, and is rotatably supported around an axis extending in the longitudinal direction of the body. death,
When inserted into the support portion, the side surface of the insertion portion facing the restraining portion is configured to move the suppressing portion to a position where the relative movement of the driven portion is suppressed according to the rotation of the insertion portion. A fixture characterized in that a restrained region is provided and a non-suppressed region configured to move the driven portion to a position allowing relative movement is provided.

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