JP5265568B2 - 手動関節運動装置 - Google Patents
手動関節運動装置 Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B17/28—Surgical forceps
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Description
本発明は、外科装置の作業端部の動きを制御するための方法および装置に関する。
腹腔鏡下外科処置では、小さな切開部が身体に作られ、外科装置の細長いシャフトが、その切開部を通して挿入されて、シャフトの遠位端部を手術部位に位置付ける。内視鏡下処置では、外科装置の細長いシャフトは、口または肛門などの自然なオリフィスを通して挿入されて、装置の遠位端部を手術部位に位置付けるために経路に沿って進められる。内視鏡下処置は、通常、身体管腔の曲がりくねった経路に適応するために可撓性シャフトの使用を必要とするが、腹腔鏡下処置では剛性シャフトを使用することができる。診断効果または治療効果を達成するように多くの方法で組織に係合し、かつ/または組織を治療するのにこれらのツールを使用することができる。
外科装置の作業端部の動きを制御するための方法および装置が提供される。一実施形態では、近位端部および遠位端部を備えた細長いシャフトを有する外科装置が提供される。3バーリンク装置(three-bar linkage)の近位端部が、細長いシャフトの遠位端部に連結され、3バーリンク装置の遠位端部が、エンドエフェクタに連結される。エンドエフェクタは、例えば、把持器、生検用プローブ、スネアループ、鉗子、はさみ、ニードルナイフ、括約筋切開刀(sphincterotome)などであってよい。使用中、3バーリンク装置は、エンドエフェクタを細長いシャフトに対して角度をつけて方向付けるように、細長いシャフトの長さ方向軸に対して側方に関節運動するように構成される。
本明細書に開示される装置および方法の構造、機能、製造、および使用の原理の包括的理解を提供するために、ある例示的な実施形態を説明する。これらの実施形態のうちの1つ以上の例が、添付の図面に例示されている。当業者は、本明細書に具体的に説明され添付図面に示される装置および方法が、非限定的な例示的実施形態であり、本発明の範囲が、特許請求の範囲によってのみ定められることを理解するであろう。例示的な一実施形態と関連して例示または説明された特徴は、他の実施形態の特徴と組み合わせられてよい。このような改変および変更は、本発明の範囲に含まれることが意図されている。
〔実施の態様〕
(1) 外科装置において、
近位端部および遠位端部を有する細長いシャフトと、
近位端部および遠位端部を有する3バーリンク装置であって、前記近位端部は、前記細長いシャフトの前記遠位端部に連結されている、3バーリンク装置と、
前記3バーリンク装置の前記遠位端部に連結されたエンドエフェクタと、
を含み、
前記3バーリンク装置は、前記エンドエフェクタが前記細長いシャフトに対して角度をつけて方向付けられることを可能にするため、前記細長いシャフトの長さ方向軸に対して側方に関節運動するように構成されている、装置。
(2) 実施態様1に記載の装置において、
前記3バーリンク装置は、前記細長いシャフトに回転可能に連結され、前記3バーリンク装置、および前記3バーリンク装置に連結された前記エンドエフェクタは、前記細長いシャフトの長さ方向軸の周りで回転するように構成される、装置。
(3) 実施態様1に記載の装置において、
前記エンドエフェクタは、前記3バーリンク装置に回転可能に連結され、前記エンドエフェクタは、前記3バーリンク装置に対して回転することができる、装置。
(4) 実施態様3に記載の装置において、
前記細長いシャフトおよび前記3バーリンク装置を通って延びており、前記3バーリンク装置に対して前記エンドエフェクタを回転させるように構成された、作動ワイヤ、
をさらに含む、装置。
(5) 実施態様1に記載の装置において、
前記3バーリンク装置は、
前記細長いシャフトの前記遠位端部に連結された近位端部を有する、第1の関節運動リンクと、
前記第1の関節運動リンクの遠位端部に旋回可能に連結された近位端部、および前記エンドエフェクタに連結された遠位端部を有する、第2の関節運動リンクと、
前記細長いシャフトを通って延びる関節運動アクチュエータに旋回可能に連結された近位端部、および前記第2の関節運動リンクに旋回可能に連結された遠位端部を有する、第3の関節運動リンクと、
を含む、装置。
(6) 実施態様5に記載の装置において、
前記第3の関節運動リンクは、可撓性ワイヤを含み、前記可撓性ワイヤは、前記第2の関節運動リンクを前記第1の関節運動リンクに対して旋回させるために、前記可撓性ワイヤに力が加えられると曲がるように構成されている、装置。
(7) 実施態様5に記載の装置において、
前記第3の関節運動リンクは、前記第2の関節運動リンクに形成されたピンを受容するために内部に形成されたカムスロットを有するカムを含み、前記カムの動きは、前記第2の関節運動リンクを前記第1の関節運動リンクに対して旋回させるのに有効である、装置。
(8) 実施態様5に記載の装置において、
前記関節運動アクチュエータは、前記第1のリンクに対して前記第2のリンクおよび前記エンドエフェクタを側方に関節運動させるために、前記細長いシャフトの長さ方向軸に沿って並進運動するように構成されている、装置。
(9) 実施態様5に記載の装置において、
前記関節運動アクチュエータは、中空の細長い管を含む、装置。
(10) 実施態様5に記載の装置において、
前記関節運動アクチュエータは、前記細長いシャフトに対して回転可能であり、前記関節運動アクチュエータの回転が、前記細長いシャフトに対して前記3バーリンク装置および前記エンドエフェクタを回転させる、装置。
(11) 実施態様1に記載の装置において、
前記エンドエフェクタは、把持器、生検用プローブ、スネアループ、鉗子、はさみ、ニードルナイフ、および括約筋切開刀から成る群から選択される、装置。
(12) 実施態様1に記載の装置において、
前記細長いシャフトおよび前記3バーリンク装置を通って延びており、前記エンドエフェクタを作動させるため前記細長いシャフトの長さ方向軸に沿って並進運動するように構成された、作動ワイヤ、
をさらに含む、装置。
(13) 実施態様1に記載の装置において、
前記細長いシャフトは、可撓性である、装置。
(14) 手術のために実施態様1の装置を処理する方法において、
a)実施態様1の装置を入手することと、
b)前記装置を滅菌することと、
c)滅菌容器の中に前記装置を保管することと、
を含む、方法。
(15) 手動関節運動装置において、
近位端部および遠位端部を有する細長いシャフトと、
前記細長いシャフトの前記遠位端部に連結された近位端部を有する第1のリンクと、
前記第1のリンクの遠位端部に旋回可能に連結された近位端部を有する第2のリンクと、
前記第2のリンクの遠位端部に連結されたエンドエフェクタと、
前記第2のリンクに旋回可能に連結された遠位端部を有する第3のリンクと、
前記細長いシャフトを通って延びており、前記第3のリンクの近位端部に連結された遠位端部を有する関節運動アクチュエータであって、前記関節運動アクチュエータは、前記細長いシャフトの長さ方向軸に沿って並進運動するように構成され、前記関節運動アクチュエータの並進運動が、前記第1のリンクおよび前記細長いシャフトに対して前記第2のリンクおよび前記エンドエフェクタを側方に関節運動させるように構成されている、装置。
(16) 実施態様15に記載の装置において、
前記第3のリンクは、可撓性ワイヤであって、前記第2のリンクを前記第1のリンクに対して旋回させるために、前記可撓性ワイヤに力が加えられると曲がるように構成された、可撓性ワイヤを含む、装置。
(17) 実施態様15に記載の装置において、
前記第3のリンクは、前記第2のリンクに形成されたピンを受容するために内部に形成されたカムスロットを有するカムを含み、前記カムの動きが、前記第1のリンクに対して前記第2のリンクを旋回させるのに有効である、装置。
(18) 実施態様15に記載の装置において、
前記関節運動アクチュエータは、中空の細長い管を含む、装置。
(19) 実施態様15に記載の装置において、
前記エンドエフェクタは、前記第2のリンクに回転可能に連結される、装置。
(20) 実施態様15に記載の装置において、
前記関節運動リンクの近位への動きが、第1の側方方向において前記第2のリンクおよび前記エンドエフェクタを側方に関節運動させるように構成されており、
前記関節運動リンクの遠位への動きが、前記第2のリンクおよび前記エンドエフェクタを、前記細長いシャフトの前記長さ方向軸と、長さ方向に整列させるように構成されている、装置。
(21) 実施態様15に記載の装置において、
前記関節運動リンクの近位への動きは、前記第3のリンクを近位に動かすのに有効であり、前記第3のリンクが近位に動くことにより、前記第1のリンクに対して前記第2のリンクが旋回する、装置。
(22) 実施態様15に記載の装置において、
前記第1のリンクは、前記細長いシャフトに回転可能に連結され、前記第1のリンク、前記第2のリンク、前記第3のリンク、および前記エンドエフェクタは、前記細長いシャフトの長さ方向軸の周りで回転するように構成されている、装置。
(23) 実施態様22に記載の装置において、
前記関節運動アクチュエータは、前記細長いシャフトに対して回転可能であり、前記関節運動アクチュエータの回転が、前記細長いシャフトの長さ方向軸の周りで前記第1のリンク、前記第2のリンク、前記第3のリンク、および前記エンドエフェクタを回転させるためのエフェクタである、装置。
(24) 実施態様15に記載の装置において、
前記エンドエフェクタは、把持器、生検用プローブ、スネアループ、鉗子、はさみ、ニードルナイフ、および括約筋切開刀から成る群から選択される、装置。
(25) 実施態様15に記載の装置において、
前記細長いシャフトは、可撓性である、装置。
(26) 手術方法において、
身体管腔を通して外科装置の細長いシャフトを挿入して、前記細長いシャフトの遠位端部に位置するエンドエフェクタを、治療されるべき組織に隣接して位置付けることと、
前記エンドエフェクタが前記細長いシャフトに対して角度をつけて方向付けられることを可能にするため、3バーリンク装置が前記細長いシャフトの長さ方向軸に実質的に垂直な方向において前記エンドエフェクタを側方に関節運動させるように、前記細長いシャフトの長さ方向軸に沿って関節運動アクチュエータを並進運動させることと、
前記細長いシャフトに対して前記エンドエフェクタを回転させることと、
を含む、方法。
(27) 実施態様26に記載の方法において、
前記3バーリンク装置は、前記細長いシャフトに対して前記エンドエフェクタと共に回転する、方法。
(28) 実施態様27に記載の方法において、
前記エンドエフェクタを回転させることは、前記細長いシャフトに対して前記関節運動アクチュエータを回転させることを含む、方法。
(29) 実施態様26に記載の方法において、
前記エンドエフェクタは、前記3バーリンク装置に対して回転する、方法。
(30) 実施態様29に記載の方法において、
前記エンドエフェクタを回転させることは、前記エンドエフェクタに連結され、かつ前記細長いシャフトおよび前記3バーリンク装置を通って延びる作動ワイヤを回転させることを含む、方法。
(31) 実施態様26に記載の方法において、
少なくとも1回使用した後に前記外科装置を滅菌すること、
をさらに含む、方法。
Claims (9)
- 外科装置において、
近位端部および遠位端部を有する細長いシャフトと、
近位端部および遠位端部を有する3バーリンク装置と、
前記3バーリンク装置の前記遠位端部に連結されたエンドエフェクタと、
前記細長いシャフトを通って延びる関節運動アクチュエータと、
を含み、
前記3バーリンク装置は、第1旋回ジョイントと、第2旋回ジョイントと、回転ジョイントとを含み、
前記回転ジョイントは、前記3バーリンク装置が前記細長いシャフトの長さ方向軸の周りを回転できるように、前記3バーリンク装置の近位端部を前記細長いシャフトの遠位端部に回転可能に連結し、
前記関節運動アクチュエータは、第3旋回ジョイントで前記3バーリンク装置に連結され、
前記関節運動アクチュエータは、前記細長いシャフトに対して前記エンドエフェクタを角度をつけて方向付けるために、前記細長いシャフトの長さ方向軸に対して前記3バーリンク装置を側方に関節運動させるのに有効であり、
前記関節運動アクチュエータは、前記細長いシャフトの遠位端部の近傍に遠位端部を有し、
前記関節運動アクチュエータは、前記細長いシャフトの長さ方向軸の周りを回転でき、
前記細長いシャフトの長さ方向軸の周りの前記関節運動アクチュエータの回転によって、前記3バーリンク装置及び前記エンドエフェクタが前記細長いシャフトに対して回転する、装置。 - 請求項1に記載の装置において、
前記3バーリンク装置は、
前記回転ジョイントで前記細長いシャフトの前記遠位端部に連結された近位端部を有する、第1の関節運動リンクと、
前記第1旋回ジョイントで前記第1の関節運動リンクの遠位端部に旋回可能に連結された近位端部と、前記エンドエフェクタに連結された遠位端部と、を有する、第2の関節運動リンクと、
前記細長いシャフトを通って延びる関節運動アクチュエータに旋回可能に連結された近位端部と、前記第2旋回ジョイントで前記第2の関節運動リンクに旋回可能に連結された遠位端部と、を有する、第3の関節運動リンクと、
を含む、装置。 - 請求項2に記載の装置において、
前記第3の関節運動リンクは、可撓性ワイヤを含み、前記可撓性ワイヤは、前記第2の関節運動リンクを前記第1の関節運動リンクに対して旋回させるために、前記可撓性ワイヤに力が加えられると曲がるように構成されている、装置。 - 請求項2に記載の装置において、
前記第3の関節運動リンクは、前記第2の関節運動リンクに形成されたピンを受容するために内部に形成されたカムスロットを有するカムを含み、前記カムの動きは、前記第2の関節運動リンクを前記第1の関節運動リンクに対して旋回させるのに有効である、装置。 - 請求項2に記載の装置において、
前記関節運動アクチュエータは、前記第1のリンクに対して前記第2のリンク及び前記エンドエフェクタを側方に関節運動させるために、前記細長いシャフトの長さ方向軸に沿って並進運動するように構成されている、装置。 - 請求項2に記載の装置において、
前記関節運動アクチュエータは、中空の細長い管を含む、装置。 - 請求項1に記載の装置において、
前記エンドエフェクタは、把持器、生検用プローブ、スネアループ、鉗子、はさみ、ニードルナイフ、及び括約筋切開刀から成る群から選択される、装置。 - 請求項1に記載の装置において、
前記細長いシャフト及び前記3バーリンク装置を通って延びており、前記エンドエフェクタを作動させるため前記細長いシャフトの長さ方向軸に沿って並進運動するように構成された作動ワイヤを更に含む、装置。 - 請求項1に記載の装置において、
前記細長いシャフトは、可撓性を有する、装置。
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US20110276041A1 (en) | 2011-11-10 |
US20080147113A1 (en) | 2008-06-19 |
BRPI0721084A2 (pt) | 2014-10-07 |
JP2010512852A (ja) | 2010-04-30 |
EP2097019B1 (en) | 2013-05-22 |
WO2008076800A2 (en) | 2008-06-26 |
US8308738B2 (en) | 2012-11-13 |
US8062306B2 (en) | 2011-11-22 |
BRPI0721084B1 (pt) | 2019-05-14 |
EP2097019A2 (en) | 2009-09-09 |
WO2008076800A3 (en) | 2008-09-25 |
BRPI0721084B8 (pt) | 2021-06-22 |
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