JP2022104218A - Hydraulically driven instrument - Google Patents

Abstract

To provide a hydraulically driven instrument in which an instrument body can largely be bent to a shaft.SOLUTION: A hydraulically driven instrument includes: a wrist provided at a tip side of a shaft; an instrument body provided on the wrist around a first axis line in a turning manner, and having a site of action in the tip side; hydraulic equipment provided at the instrument body, and activating the site of action by supplying a hydraulic fluid; and at least one hydraulic tube provided at the shaft, and having at least a portion being fixed to the instrument body and connected to the hydraulic equipment. The hydraulic tube has flexibility, and a fixing part fixed to the instrument body is positioned in the tip side from the first axis line.SELECTED DRAWING: Figure 2

Description

The present invention relates to a hydraulically driven instrument driven by a hydraulic fluid.

In robot-assisted surgery, a surgical support system is used. As a surgical support system, for example, the surgical operation system of Patent Document 1 is known. In the surgical operation system of Patent Document 1, an instrument such as a clip applier is attached to the tip of a robot arm. Then, in the surgical operation system, the operation is performed using the instrument. As an instrument drive system, for example, there is a wire drive system. In the wire drive system, the tip of the instrument, such as a jaw, is moved by pulling the wire.

Japanese Unexamined Patent Publication No. 2018-020004

As an instrument drive system, there is a hydraulic drive system in addition to the wire drive system described above. In the hydraulic drive system, a hydraulic device such as a piston is provided on the tip side portion of the instrument. The hydraulic device is connected to a hydraulic pressure supply device provided at the base end side portion of the instrument via a hydraulic pressure pipe. Further, in the instrument, a list is provided between the tip side portion (hereinafter, referred to as “instrument main body”) having an operating portion such as a jaw and the shaft. The wrist can orient the actuation site by bending the instrument body relative to the shaft. However, if the instrument body is to be bent significantly with respect to the shaft, the hydraulic pipe may break, so it is desired to provide a hydraulically driven instrument that can be bent more.

Therefore, an object of the present invention is to provide a hydraulically driven instrument that can greatly bend the instrument body with respect to the shaft.

The hydraulically driven instrument of the present invention includes a list provided on the tip side of the shaft, an instrument body rotatably provided on the list around the first axis, and an instrument body having an operating portion on the tip side. A hydraulic device provided on the instrument body to operate the operating portion by supplying a working liquid, and a hydraulic device provided on the shaft, at least a part of which is fixed to the instrument body and connected to the hydraulic device. The hydraulic tube is flexible, and a fixing portion fixed to the instrument body is located on the distal end side of the first axis. It is a thing.

According to the present invention, since the fixed portion fixed to the instrument main body is located on the tip end side of the first axis line, the distance between the fixed portion and the shaft can be increased. This makes it possible to bend the hydraulic tube with a large bending radius when the instrument body is bent with respect to the shaft. This allows the instrument body to bend significantly with respect to the shaft.

According to the present invention, the instrument body can be greatly bent with respect to the shaft.

It is a top view which shows the hydraulic clip applier of the embodiment of this invention. It is a top sectional view which shows by cutting a part of the hydraulic pressure clip applier of FIG. FIG. 3 is a plan view showing the hydraulic clip applier of FIG. 1 by rotating the applier body in one direction in the bending direction. FIG. 3 is a plan view showing the hydraulic clip applier of FIG. 1 by rotating the applier body in the other direction in the bending direction.

Hereinafter, the hydraulic clip applier (hereinafter referred to as “clip applier”) 1 according to the embodiment of the present invention will be described with reference to the above-mentioned drawings. It should be noted that the concept of the direction used in the following description is used for convenience in the explanation, and does not limit the direction of the configuration of the invention to that direction. Further, the clip applier 1 described below is only one embodiment of the present invention. Therefore, the present invention is not limited to the embodiment, and can be added, deleted, or changed without departing from the spirit of the invention.

<Clip Applier>
The clip applier 1, which is an example of a hydraulically driven instrument, is provided on a surgical support robot (not shown). Then, the clip applier 1 operates by receiving a supply of a hydraulic fluid (for example, saline solution, oil, etc.). The clip applier 1 is used for various operations. For example, the clip applier 1 ligates a tubular tissue, a blood vessel, or the like (hereinafter, referred to as “blood vessel or the like”). The clip applier 1 has a shaft 2, a wrist 3, an applier main body 4, a hydraulic device 5, and a pair of hydraulic tubes 6 and 7.

<Shaft>
The shaft 2 is an elongated tubular member extending from a robot arm (not shown) of the support robot. The shaft 2 is attached to a hydraulic pressure supply device whose base end side portion is not shown. The shaft 2 is attached to the robot arm via a hydraulic pressure supply device. Further, the shaft 2 extends along the axis L3. Further, in the present embodiment, the shaft 2 can be rotated around the axis L3 by a rotation mechanism (not shown).

<List>
The list 3 is provided at the tip of the shaft 2. In the list 3, the applier main body 4 is rotatably provided around the first axis L1. The first axis L1 is an axis different from the third axis L3, which is the axis L3 of the shaft 2. More specifically, the first axis L1 is a direction in which the shaft 2 and the wrist 3 intersect the third axis L3 in a state where the shaft 2 and the wrist 3 are aligned straight along the third axis L3 (in the present embodiment, they are orthogonal directions). In FIG. 1, it is an axis extending in the front and back directions of the paper. In the list 3, the applier body 4 can be bent around the first axis L1 with respect to the shaft 2.

Further, the wrist 3 is rotatably provided around the second axis L2 at the tip of the shaft 2. The second axis L2 is an axis different from the first axis L1 and the third axis L3. More specifically, the second axis L2 is in a direction in which the shaft 2 and the wrist 3 intersect the first axis L1 and the third axis L3 in a state where the shaft 2 and the wrist 3 are aligned straight along the third axis L3 (in the present embodiment). , In the orthogonal direction, extending in the vertical direction of the paper surface in FIG. 1). Therefore, in the list 3, the applier body 4 can be bent around the second axis L2 with respect to the shaft 2.

The list 3 extends in a direction intersecting the first axis L1 and the second axis L2 (in the present embodiment, the orthogonal direction and the left-right direction on the paper in FIG. 1). The tip of the shaft 2 is rotatably provided on the base end side of the list 3, and the applier body 4 is rotatably provided on the tip end side of the list 3. Therefore, the first axis L1 is located on the distal end side of the second axis L2.

Listing 3 is provided with a transmission mechanism (not shown). The transmission mechanism is composed of, for example, a pulley, a wire, and an electric motor. In Listing 3, pulleys are provided around the first axis L1 and the second axis L2, respectively. A separate electric motor is connected to each pulley via a wire. In the transmission mechanism, each pulley is rotated via a wire by driving each electric motor. As a result, the shaft 2 and the applier body 4 rotate around the axes L2 and L1 with respect to the wrist 3. The transmission mechanism is not limited to the wire drive type including the pulley and the wire described above. For example, the transmission mechanism may be a gear drive type in which the shaft 2 and the applier body 4 are rotated with respect to the wrist 3 by a gear train. Further, the transmission mechanism may be a hydraulic drive type in which the shaft 2 and the applier main body 4 are rotated with respect to the wrist 3 by a hydraulic motor.

<Applier body>
The applier body 4, which is an example of the instrument body, is rotatably provided in the list 3 as described above. Then, the applier body 4 is bent with respect to the shaft 2 by rotating. Further, the applier main body 4 has a pair of jaws 11 and 12 which are actuating portions on the tip end side. Blood vessels and the like can be ligated by a pair of jaws 11 and 12. Further, the applier main body 4 has a body 10 in addition to the pair of jaws 11 and 12.

The body 10 is a member formed in a long length. In the present embodiment, the body 10 is formed in a rectangular shape in a plan view, and is formed in a long shape from the proximal end side to the distal end side. The body 10 is rotatably provided with a wrist 3 at a base end portion, which is a portion on one end side in the longitudinal direction thereof. Then, the body 10 can rotate around the first axis L1 with respect to the wrist 3. More specifically, the body 10 has a pair of notches 10a and a pair of insertion holes 10b.

The pair of notches 10a are formed on both sides of the base end side portion of the body 10, that is, on both sides in the width direction. Therefore, the width of the base end side portion of the body 10 is narrower than the intermediate portion of the body 10 due to the pair of notches 10a. As shown in FIG. 2, the pair of insertion holes 10b are formed at positions corresponding to each of the notch portions 10a. That is, the pair of insertion holes 10b are formed on both side edge portions of the intermediate portion of the body 10, that is, both side portions in the width direction. The pair of insertion holes 10b are opened in the corresponding notch portions 10a, respectively, and extend from the notch portion 10a to the tip end side. In the present embodiment, the insertion hole 10b has a small diameter portion on the distal end side formed to have a smaller diameter with respect to a large diameter portion on the proximal end side.

A pair of jaws 11 and 12, which are actuating parts, are provided on the body 10 so as to be openable and closable. More specifically, the pair of jaws 11 and 12 are provided on the body 10 on the distal end side. The fixed jaw 11 which is one of the jaws 11 is integrally provided at the tip of the body 10 and protrudes from the tip of the body 10. The movable jaw 12, which is the other jaw 12, is provided on the body 10 so as to be swingable around the rotation axis L4. The tip end side portion of the movable jaw 12 protrudes from the tip end portion of the body 10 and can be brought closer to the fixed jaw 11 by swinging. By bringing them closer, the tip end side portions of the pair of jaws 11 and 12 are opened and closed (see arrow A in FIG. 2). As a result, blood vessels and the like can be ligated with a pair of jaws 11 and 12. In the present embodiment, the rotation axis L4 extends parallel to the first axis L1 and is located on the tip side of the first axis L1.

<Hydraulic equipment>
The hydraulic device 5 is provided on the applier main body 4. Then, the hydraulic device 5 receives the supply of the hydraulic fluid to operate the pair of jaws 11 and 12. More specifically, the hydraulic device 5 is integrally provided on the applier main body 4. Then, when the hydraulic fluid is supplied, the hydraulic pressure device 5 rotates the movable jaw 12 around the rotation axis L4 to open and close the pair of jaws 11 and 12. The hydraulic device 5 is, for example, a hydraulic motor, which is a vane motor in the present embodiment. The hydraulic device 5 has a storage chamber 14, a pair of supply / discharge passages 15, and a rotary vane 16.

The accommodation chamber 14 is an inner space formed in the body 10 and is located in an intermediate portion of the body 10. The accommodation chamber 14 has a rotor accommodating portion 17 and two accommodating portions 18 and 19. The rotor accommodating portion 17 is formed around the rotation axis L4. Further, the first accommodating portion 18 is formed on the distal end side of the rotor accommodating portion 17, and the second accommodating portion 19 is formed on the proximal end side, respectively. Further, a pair of supply / discharge passages 15 are connected to the first accommodating portion 18. The pair of supply / discharge passages 15 are located on both sides of the first accommodating portion 18 in the width direction, and are connected to the first accommodating portion 18 from both sides in the width direction. Further, the pair of supply / discharge passages 15 correspond to the insertion holes 10b located on the same side in the width direction, respectively, and are connected to the corresponding insertion holes 10b.

The rotary vane 16 is swingably arranged in the accommodation chamber 14. Further, the rotary vane 16 is connected to the movable jaw 12. Therefore, when the rotary vane 16 swings in the accommodation chamber 14, the movable jaw 12 swings. More specifically, the rotary vane 16 has a rotor 21, a first vane 22, and a second vane 23. The rotor 21 is housed in the rotor accommodating portion 17 in a sealed state and so as to rotate around the rotation axis L4. The first vane 22 extends from the rotor 21 to the first accommodating portion 18 toward the tip end side, and divides the first accommodating portion 18 into two liquid chambers 18a and 18b. The two liquid chambers 18a and 18b in the first accommodating portion 18 are separated from each other, and the hydraulic fluid is supplied to the respective liquid chambers 18a and 18b from the corresponding supply / discharge passages 15, so that the first vane 22 can be described in more detail. The rotary vane 16 swings. The second vane 23 extends from the rotor 21 to the second accommodating portion 19 toward the proximal end side, and divides the second accommodating portion 19 into two liquid chambers 19a and 19b. The liquid chambers 19a and 19b in the second accommodating portion 19 are also separated from each other and are located in the liquid chambers 18b and 18a point-symmetrically with respect to the rotation axis L4 in a plan view via the through-passages 16a and 16b. It is connected.

<Hydraulic tube>
The pair of hydraulic tubes 6 and 7 have flexibility. The pair of hydraulic tubes 6 and 7 are provided on the shaft 2. Further, at least a part of the pair of hydraulic tubes 6 and 7 is fixed to the shaft 2. In the present embodiment, the pair of hydraulic tubes 6 and 7 are inserted into the shaft 2. Further, the pair of hydraulic tubes 6 and 7 have fixing portions 6a and 7a, and the fixing portions 6a and 7a are fixed to the applier main body 4. More specifically, the pair of hydraulic tubes 6 and 7 are fixed to the applier body 4 by inserting the fixing portions 6a and 7a into each of the corresponding insertion holes 10b. The pair of hydraulic tubes 6 and 7 are connected to the hydraulic device 5. Then, the pair of hydraulic tubes 6 and 7 supply the hydraulic fluid supplied from the hydraulic pressure supply device (not shown) to the hydraulic pressure device 5. More specifically, the pair of hydraulic tubes 6 and 7 have a proximal end side portion connected to the hydraulic pressure supply device. The pair of hydraulic tubes 6 and 7 are inserted from the proximal end side of the shaft 2. Further, the pair of hydraulic tubes 6 and 7 pass through the inside of the shaft 2 and project the tip end side portion from the shaft 2 to the tip end side.

The pair of hydraulic tubes 6 and 7 have fixing portions 6a and 7a and exposed portions 6b and 7b on the distal end side portions. The fixing portions 6a and 7a are located on the tip side of the exposed portions 6b and 7b in the pair of hydraulic tubes 6 and 7. In the present embodiment, the fixing portions 6a and 7a are the tip portions of the pair of hydraulic tubes 6 and 7. The tip end side portions of the fixing portions 6a and 7a are inserted into the corresponding insertion holes 10b and fixed to the applier main body 4. More specifically, the fixing portions 6a and 7a are fitted with the tip portions in the small diameter portion of the corresponding insertion hole 10b (that is, the tip end side portion of the insertion hole 10b). As a result, at least a part of the fixing portions 6a and 7a is fixed to the applier main body 4 on the tip side of the rotation axis L4. Further, the fixing portions 6a and 7a are fixed to the applier main body 4 on both sides of the rotation axis L4 (both sides in the width direction in the present embodiment). Further, the fixing portions 6a and 7a are formed to have the same diameter as or smaller than the small diameter portion of the insertion hole 10b, and the proximal end side portion from the fixing portions 6a and 7a is relative to the large diameter portion of the insertion hole 10b. It is loosely fitted. As a result, it is possible to create a play in the movement of the hydraulic tubes 6 and 7 (more specifically, the exposed portions 6b and 7b described later) in the vicinity of the opening of the insertion hole 10b.

Further, the fixed portions 6a and 7a have a distance α between the fixed portions 6a and 7a and the first axis line L1 in a plan view from the direction in which the first axis line L1 extends. The distance α is longer than the distance β between the first axis L1 and the second axis L2 in a plan view. Therefore, the fixing portions 6a and 7a are fixed to the applier main body 4 so that the distance α is longer than the distance β.

The exposed portions 6b and 7b are exposed from the shaft 2 and the applier main body 4. Further, the exposed portions 6b and 7b are arranged on both sides of the applier main body 4 (in the present embodiment, both sides in the width direction in which the notch portion 10a is formed). That is, the exposed portions 6b and 7b are arranged on both sides of the applier main body 4 so as to sandwich the first axis L1 from both sides in the width direction. Each of the exposed portions 6b and 7b protrudes from the corresponding insertion hole 10b into the notch 10a and is arranged in the notch 10a. The exposed portions 6b and 7b are arranged on both sides of the applier main body 4, respectively. As a result, the exposed portions 6b and 7b can be bent so as to bulge outward in the width direction of the applier body 4.

<Operation of clip applier>
In the clip applier 1, blood vessels and the like can be ligated by closing the pair of jaws 11 and 12. Then, in the clip applier 1, the applier main body 4 may be bent with respect to the shaft 2 to change the orientation of the pair of jaws 11 and 12 in order to ligate the target blood vessel or the like. At this time, the clip applier 1 rotates the shaft 2 and the applier body 4 with respect to the wrist 3 by a transmission mechanism (not shown). For example, as shown in FIG. 3, in the clip applier 1, the applier main body 4 can be rotated around the first axis L1 by a transmission mechanism (not shown), for example, in a clockwise direction. As a result, the applier body 4 bends in one bending direction (in the present embodiment, one side in the width direction) with respect to the wrist 3. Then, the hydraulic tubes 6 and 7 are bent in the following shape because the fixing portions 6a and 7a are fixed to the applier main body 4 on the tip side from the first axis L1. That is, one hydraulic tube 6 is located on the bending side, that is, on one side in the bending direction. Therefore, in one of the hydraulic tubes 6, a part is pushed back into the shaft 2 and the exposed portion 6b is bent so as to draw an arc with a small bending radius. Since the other hydraulic tube 7 is located on the opposite side to the bending side, that is, on the other side in the bending direction, a part of the hydraulic tube 7 is pulled out from the inside of the shaft 2 so that the exposed portion 7b draws an arc with a large bending radius. Can be bent. More specifically, the exposed portion 7b draws an arc so as to inflate outward in the width direction once in order to increase its bending radius, and then extends toward the insertion hole 10b.

Similarly, in the clip applier 1, as shown in FIG. 4, the applier main body 4 can be rotated counterclockwise around the first axis L1 by a transmission mechanism. As a result, the applier body 4 bends to the other side in the bending direction with respect to the wrist 3. Then, in the other hydraulic tube 7, a part of the hydraulic tube 7 is pushed back into the shaft 2, and the exposed portion 7b is bent so as to draw an arc with a small bending radius. On the other hand, in the hydraulic tube 6, a part is pulled out from the inside of the shaft 2, and the exposed portion 6b is bent so as to draw an arc with a large bending radius. More specifically, the exposed portion 6b draws an arc so as to inflate outward in the width direction once in order to increase its bending radius, and then extends toward the insertion hole 10b.

As described above, in the clip applier 1 of the present embodiment, since the fixing portions 6a and 7a fixed to the applier main body 4 are located on the tip side of the first axis line L1, the fixing portions 6a and 7a and the shaft 2 are used. You can leave a distance between them. As a result, when the applier body 4 is bent with respect to the shaft 2, the hydraulic tubes 6 and 7 can be bent with a large bending radius, so that the applier body 4 is greatly bent with respect to the shaft 2 (for example, 90). Can be bent by degree). The maximum angle at the time of bending is not limited to 90 degrees as shown in FIGS. 3 and 4, and may be 90 degrees or more or less than 90 degrees.

Further, in the clip applier 1, the bending radius of the hydraulic tubes 6 and 7 is the smallest when the applier body 4 is rotated around the first axis L1, but the fixing portion 6a is located on the tip side of the first axis L1. , 7a are fixed to the applier body 4. Therefore, when the applier body 4 is rotated around the second axis L2, it is possible to prevent the bending radii of the hydraulic tubes 6 and 7 from becoming smaller than the bending radius described above. As a result, the hydraulic tubes 6 and 7 can be greatly bent when the applier body 4 is rotated around either the first axis L1 or the second axis L2.

Further, in the clip applier 1, the tip side portion is exposed from the shaft 2, and the exposed portions 6b and 7b of the tip end side portion are arranged on the side of the applier main body 4. Therefore, the hydraulic tubes 6 and 7 can bulge outward when the applier body 4 is bent with respect to the shaft 2. Therefore, the hydraulic tubes 6 and 7 can be bent with a larger bending radius, which allows the applier body 4 to be bent significantly with respect to the shaft 2.

Further, in the clip applier 1, the exposed portions 6b and 7b of the pair of hydraulic tubes 6 and 7 are arranged on both sides of the applier main body 4 so as to sandwich the first axis L1 from both sides. Therefore, it is possible to prevent the hydraulic tubes 6 and 7 from interfering with each other when the applier body 4 is bent with respect to the shaft 2.

Further, in the clip applier 1, the exposed portions 6b and 7b are arranged in the notch portion 10a formed in the applier main body 4. Therefore, in the clip applier 1, the fixing portions 6a and 7a can be positioned closer to the tip side, the total length of the applier main body 4 can be suppressed, and the lengths of the exposed portions 6b and 7b can be secured. can. As a result, the applier body 4 can be greatly bent with respect to the shaft 2 while suppressing the total length of the applier body 4. Further, in the clip applier 1, the fixing portions 6a and 7a are fixed to the applier main body 4 on the side of the rotation axis L4 (both sides in the width direction in the present embodiment). Therefore, the fixing portions 6a and 7a can be positioned closer to the tip side while suppressing the total length of the applier main body 4. As a result, the applier body 4 can be greatly bent with respect to the shaft 2 while suppressing the total length of the applier body 4.

The clip applier 1 operates as follows to perform ligation after changing the orientation of the applier body 4, that is, the orientation of the pair of jaws 11 and 12. That is, the hydraulic fluid is supplied and discharged to the liquid chambers 18a, 18b, 19a, 19b via the hydraulic tubes 6 and 7. For example, when the hydraulic fluid is supplied to the liquid chamber 18b via the hydraulic tube 7, the hydraulic fluid is also guided to the liquid chamber 19a via the through-passage 16b. As a result, the rotary vane 16 swings and the movable jaw 12 moves toward the fixed jaw 11. As a result, the pair of jaws 11 and 12 are closed and blood vessels and the like are ligated. On the other hand, when the hydraulic fluid is supplied to the liquid chamber 18a via the hydraulic tube 6, the hydraulic fluid is also guided to the liquid chamber 19b via the through-passage 16a. As a result, the rotary vane 16 swings and the movable jaw 12 separates from the fixed jaw 11. As a result, a pair of jaws 11 and 12 are opened.

<Other embodiments>
In the present embodiment, the clip applier 1 is mentioned as an example of the instrument, but any hydraulically driven instrument that can move the operating portion by hydraulic pressure may be used. Hydraulically driven instruments include, for example, forceps such as needle drivers, forceps, and graspers. Further, in the clip applier 1, only the movable jaw 12 is moving, but the structure may be such that both jaws 11 and 12 move. Further, the mechanism for moving the jaw 12 which is the operating portion is not limited to the vane motor which is the hydraulic device 5, and may be a piston mechanism. Further, the hydraulic device 5 is not limited to the structure as described above even if it is a vane motor. That is, the rotary vane may have one or three or more vanes, and the shape thereof does not matter. Further, the number of the hydraulic tubes 6 and 7 is not limited to two, and may be three or more, or may be one. If there is only one hydraulic tube, the vane may be configured to return to its original position by an urging member such as a compression coil spring. Further, although the clip applier 1 is configured to rotate around the first to third axes L1 to L3, it may rotate at least around the first axis L1. Further, although the hydraulic tubes 6 and 7 have exposed portions 6b and 7b, they are not always necessary, and the entire hydraulic tubes 6 and 7 may be inserted into a shaft or the like. Further, the exposed portions 6b and 7b are portions exposed from the shaft 2 and the applier main body 4, and may not be exposed to the outside by being covered with another member such as a cover.

1 Clip applier (hydraulic drive type instrument)
2 Shaft 3 List 4 Applier body (instrument body)
5 Hydraulic equipment 6 Hydraulic tube 6a Fixed part 6b Exposed part 7 Hydraulic tube 7a Fixed part 7b Exposed part 10a Notch 10b Insertion hole 12 Movable jaw (operating part)
L1 1st axis L2 2nd axis L4 Rotating axis

Claims (8)

The list provided on the tip side of the shaft and
The instrument body, which is rotatably provided around the first axis in the above list and has an operating part on the tip side,
A hydraulic device provided on the instrument body that operates the operating part by supplying the hydraulic fluid, and
Provided with at least one hydraulic tube provided on the shaft, at least a portion of which is fixed to the instrument body and connected to the hydraulic device.
The hydraulic tube is a hydraulically driven instrument that is flexible and has a fixing portion fixed to the instrument body located on the tip side of the first axis. The list is rotatably provided on the shaft around a second axis that is different from the first axis and the axis of the shaft.
The hydraulically driven instrument according to claim 1, wherein the first axis is located on the tip side of the second axis. The fixed portion is the instrument so that the distance between the first axis and the second axis is larger than the distance between the fixed portion and the first axis when viewed from the direction in which the first axis extends. The hydraulically driven instrument according to claim 2, which is fixed to the main body. The instrument body has an insertion hole and
The hydraulically driven instrument according to any one of claims 1 to 3, wherein the fixing portion of the hydraulic tube is inserted into the insertion hole and fixed to the instrument main body. The hydraulic tube has a tip end portion protruding from the shaft.
The tip side portion has the fixing portion and the exposed portion.
The fixed portion is located on the tip side of the exposed portion.
The hydraulically driven instrument according to any one of claims 1 to 4, wherein the exposed portion is exposed from the shaft and is arranged on the side of the instrument main body. Equipped with the two hydraulic tubes
The hydraulically driven instrument according to claim 5, wherein each of the exposed portions of the hydraulic tube is arranged on both sides of the instrument body so as to sandwich the first axis from both sides. Mention. The instrument body further has a notch and
The hydraulically driven instrument according to claim 5 or 6, wherein the exposed portion of the hydraulic tube is arranged in the notch. The hydraulic device is a hydraulic motor that rotates the operating portion around a rotation axis.
The hydraulically driven instrument according to any one of claims 1 to 7, wherein at least a part of the fixing portion is fixed to the instrument main body on the tip end side from the rotation axis.

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