JP5376380B2 - 自然開口部越管腔内視鏡手術(notes)用外科手術システム - Google Patents
自然開口部越管腔内視鏡手術(notes)用外科手術システム Download PDFInfo
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Description
1S 内視鏡用腹腔施術段階
2、2A 生体管内挿入本体
2S 外部病巣部確認段階
3、3A、3D アンビル部
4、4A、4B、4C、4D ヘッド部
5、5A、5B、5C 支持軸部
6、6A、6B、6C 操作部
7、7A、7B、7C プッシュ管
7a、7Aa、7Ba、7Ca 前端部
7b ガイド口部
7Aaa ブラケット
7Ab 後端近傍部
7Bc、7Cc エンド部材
7Bd、7Cd、7Ae 後端開口部
7Af、7Bf ガイド部
8 アンビル部挿入補助具
8a 中空管状体
8b 前端部
8c 後端部
8d 把持部
10 吻合用ステープル(綴針)
11S サーキュラー吻合装置挿入段階
11aS アンビル部・アンビル部挿入補助具挿入段階
12S、12aS アンビル部離間段階
12bS アンビル部挿入補助具抜取り段階
12cS ヘッド部側生体管内挿入本体挿入段階
13S 腸管巾着縫合部焼灼段階
13aS 尖頭部取出し段階
13bS アンビル部連結補助具挿入段階
13cS アンビル部連結補助具・アンビル軸当接段階
14S アンビル部姿勢制御段階
14aS アンビル軸捕捉/ロック段階
14bS アンビル部連結補助具抜取り段階
15S アンビル部連結段階
16S 腸管切断端部吻合段階
17S サーキュラー吻合装置取出し段階
21S リニア切断/縫合装置挿入段階
22S 腸管病巣部端部把持段階
23S 腸管病巣部一方端切断/閉鎖段階
24S 腸管病巣部他方端切断/閉鎖段階
25S リニア切断/縫合装置取出し段階
30 アンビル姿勢制御機構
31 アンビル
31a 溝部
31b ステープル成形溝
32 ブラケット
33 2軸揺動機構(ジンバル機構)
33a 第2の枠体
33b 第3の枠体
33c アンビル軸支持部
33e 非干渉孔
33f 第1の枠体
34 アンビル軸
34a 絶縁体
34Aa 尖頭部
34Ad 連結軸部
34Ae 尖頭部連結穴
34b、34Ab 套管針
34c モノポーラ電極部
35、35A、 被ロック部
35a、35Aa スプライン溝
35b、35Ab、54b 傾斜面
36 先端キャップ
37 裏打ちワッシャ
38 フレキシブルカバー
41 ヘッド外筒
41a、41b ブラケット
41c、41d アクチュエータ取付け孔
42 ステープル/カッター駆出部材
42a 後端面
43 ステープル駆出フィンガ
44 ステープルカートリッジ
44a ステープル収容スロット
45 サーキュラーカッター
47、67 プッシュ管駆動機構
47a、48a、49a (マイクロリニアアクチュエータの)ロッド先端部
48、66 ステープル/カッター駆出機構
49、68 ロック調整管駆動機構
51 外管
52 ドライバーチューブ
52a 雄ねじチューブ
52b 雄ねじ
53 連結管
53a、53Aa、53Ba 前端部
53A、53B ロック調整管
53Ab 後端部
53c、53Bc エンド部材
53Bd 後端開口部
54、54A、54B ロック部
54a、54Aa スプライン歯
54Ab 分割捕捉部
54Ac 弾性支持部材
54Bc 分割捕捉部支持部材
54Bca ブラケット後端部
55 アンビル部連結補助具
55a 套管針状尖頭部
55b シャフト部
56 ガイド管
56a 先端部
56b 後端部
57 弾性部材
57a 一端部
57b 他端部
58 軸部材
61 操作部筐体
61a 後端部
61c モータ取付け孔
61d 指示器窓
63 ドライブシャフト
63a ピニオン
64 プッシュ管駆動機構
65 外歯付回転ナット
65a 外歯
65b 雌ねじ
65c 中空後半部
67 プッシュ管駆動機構
91 ステープル/カッター駆動モータ
100 ガイド細線部材(ガイド電線)
110 巻取り装置
140、140A (ワイヤレス)操作ユニット
150 カプセル内視鏡
200 内視鏡
300 Y軸サーボモータ
301 Z軸サーボモータ
302、412 電池
303、403、410 ワイヤレス送受信器
304、411 アンテナ
305 Y軸回り角度センサー
306 Z軸回り角度センサー
307 アンビル軸回転モータ(回転手段)
310 角度指令生成部
311 角度検出部
312 指令算出部
320 駆動制御部
321 Y軸制御部
322 Z軸制御部
401 Y0軸回り角度センサー
402 Z0軸回り角度センサー
500 切断/吻合装置
501 本体
502 操作部
503 エンド・エフェクタ
504 上顎
505 下顎
506 支持軸部
507 顎開閉モータ
508 切断/吻合モータ
509 (ワイヤレス)操作ユニット
510 ステープルカートリッジ
511 縫合用ステープル
512 ステープル収容スロット
520 切断/吻合ドライブ機構
530 上顎開閉機構
540 上顎本体
541 溝部
542、550a 蟻溝型スライド溝
543 ラック
543a、554a 雄ねじ
544 ステープルガイド
544a ステープル成形溝
550 下顎本体
551 チャンネル
552 上部軸支持穴
553 下部軸支持穴
554 上顎開閉ドライブシャフト
554a ピニオン
555 切断/吻合ドライブシャフト
555a 先側雄ねじ
555b 後側雄ねじ
556 先側ステープル駆出駒
556a、557a 傾斜面
557 後側ステープル駆出駒
557b 雌ねじ
558 (先側)リニアカッター
558a、559a 凹状切欠き部
559 (後側)リニアカッター
560、562 フレキシブル駆動シャフト
561、563 カップリング
C1 生体管(例えば腸管)病巣部T3の前端側近傍位置
C2 生体管(例えば腸管)病巣部T3の後端側近傍位置
M 生物(生体、例えば人)
Ma 自然開口部(例えば、肛門や口など)
Mb、Md 内視鏡用生体腔(腹腔)部
Mc カニューレ
T 生体管(例えば腸管などの消化管)
T1 アンビル部側(口側又は先端側)生体管(例えば腸管)
T1a、T2a (生体管(例えば腸管)切断端の)巾着縫合部
T1b、T2b (巾着縫合部の)焼灼開口部
T2 ヘッド部側(肛門側又は後端側)生体管(例えば腸管)
T3 病巣部
T4 (アンビル部側(口側又は先端側)生体管(例えば腸管)の巾着縫合部T1a部位の)開口部T1b側腸管
T5 (ヘッド部側(肛門側又は後端側)生体管(例えば腸管)の巾着縫合部T2a部位の)開口部T2b側腸管
Claims (23)
- 主軸(X軸)に沿って後方に突設され後端に套管針が設けられたアンビル軸を有し、先端部を構成するアンビル部と、
該アンビル部に対向して生体管を横断方向円管状に切断及び吻合するサーキュラーカッター及び吻合用ステープルを備えたヘッド部、及び該ヘッド部に接続された長尺可撓性の支持軸部を有する生体管内挿入本体と、
該生体管内挿入本体に接続されて前記サーキュラーカッター及び吻合用ステープルの駆出操作を制御する操作部と、
前記生体管内挿入本体内に挿通され、前記套管針の尖鋭端に巻取り/解放自在に接続されたガイド細線部材と、
前記アンビル軸及びヘッド部内中央部に相互に係脱可能な被ロック部、ロック部がそれぞれ設けられ、前記アンビル部とヘッド部とを連結又は離脱する連結機構と、を備え、
前記アンビル部が連結された生体管内挿入本体が生物の自然開口部から病巣部を有する生体管内に挿入され、前記アンビル部がヘッド部から離脱されて残置されるとともに前記ヘッド部側の生体管内挿入本体が後退してそれぞれ前記生体管病巣部の前/後端部近傍まで離間した状態で、別途生体に開口された内視鏡用生体腔部から挿入され、前記ガイド細線部材を切らずに生体管のみを切断するための逃げ機構を有して生体管を横断方向直線状に切断するリニアカッター及びその生体管の切断端部を巾着縫合する縫合用ステープルを有するリニア切断/縫合装置により前記生体管外から病巣部が切断除去されるとともに前記生体管の切断端部双方が巾着縫合された後に、その生体管の切断端部双方同士を生体管内から円筒状に吻合すると同時に前記巾着縫合部の生体管部分を円形状に切断して連通状態に修復するサーキュラー吻合装置を具備し、
前記ガイド細線部材は、導電体からなるガイド電線であり、そのガイド電線の先端は、前記套管針の尖鋭端にモノポーラ電極部を介して接続され、前記套管針は、絶縁体からなるか、又は別途絶縁体を介して前記アンビル部軸に連設され、
前記巻取られるガイド電線を介して前記モノポーラ電極部にモノポーラ電流が通電されることにより前記アンビル部側及びヘッド部側生体管の双方の巾着縫合部位が順次焼灼され、前記套管針により挿通されて開口されることを特徴とする自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 後端に套管針が形成された尖頭部(34Aa)が係脱可能に連結され主軸(X軸)に沿って後端側に突設されたアンビル軸を有し、先端部を構成するアンビル部と、
該アンビル部に対向して生体管を横断方向円管状に切断及び吻合するサーキュラーカッター及び吻合用ステープルを備えたヘッド部、及び該ヘッド部に接続された長尺可撓性の支持軸部を有する生体管内挿入本体と、
該生体管内挿入本体に接続されて前記サーキュラーカッター及び吻合用ステープルの駆出操作を制御する操作部と、
前記生体管内挿入本体内に挿通され、前記套管針の尖鋭端に巻取り/解放自在に接続されたガイド細線部材と、
前記アンビル軸及びヘッド部内中央部に相互に係脱可能な被ロック部、ロック部がそれぞれ設けられ、前記アンビル部とヘッド部とを連結又は離脱する連結機構と、を備え、
前記アンビル部が連結された生体管内挿入本体が生物の自然開口部から病巣部を有する生体管内に挿入され、前記アンビル部がヘッド部から離脱されて残置されるとともに前記ヘッド部側の生体管内挿入本体が後退してそれぞれ前記生体管病巣部の前/後端部近傍まで離間した状態で、別途生体に開口された内視鏡用生体腔部から挿入され、前記ガイド細線部材を切らずに生体管のみを切断するための逃げ機構を有して生体管を横断方向直線状に切断するリニアカッター及びその生体管の切断端部を巾着縫合する縫合用ステープルを有するリニア切断/縫合装置により前記生体管外から病巣部が切断除去されるとともに前記生体管の切断端部双方が巾着縫合された後に、その生体管の切断端部双方同士を生体管内から円筒状に吻合すると同時に前記巾着縫合部の生体管部分を円形状に切断して連通状態に修復するサーキュラー吻合装置を具備し、
前記ガイド細線部材は、導電体からなるガイド電線であり、そのガイド電線の先端は、前記套管針の尖鋭端にモノポーラ電極部を介して接続され、前記套管針は、絶縁体からなるか、又は別途絶縁体を介して前記アンビル部軸に連設され、
前記巻取られるガイド電線を介して前記モノポーラ電極部にモノポーラ電流が通電されることにより前記アンビル部側及びヘッド部側生体管の双方の巾着縫合部位が順次焼灼され、前記套管針により挿通されて開口されることを特徴とする自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記アンビル部をヘッド部と連結/離脱させるためのプッシュ管を前進/後退させるプッシュ管駆動機構と、
前記吻合用ステープル及びサーキュラーカッターを駆出させるステープル/カッター駆出機構と、
前記ガイド細線部材を巻き取る巻取り装置と、が前記ヘッド部と支持軸部との接続部近傍内に収容され、
これらの駆動操作が前記操作部で遠隔制御されることを特徴とする請求項1又は請求項2記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記ヘッド部と支持軸部との接続部近傍内には、さらにワイヤレス送受信器及び電池が備えられ、
前記プッシュ管駆動機構、ステープル/カッター駆出機構及び巻取り装置の遠隔制御がワイヤレスで行われることを特徴とする請求項3記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記連結機構は、
前記套管針近傍のアンビル軸に設けられた凸面体状の被ロック部と、
前記ヘッド部内中央部に収設され、外周方向に複数に分割された凹面体状に形成されて前記被ロック部に係脱可能に嵌合して捕捉する分割捕捉部、及び前記アンビル部をヘッド部と連結/離脱させるための前進/後退自在なプッシュ管の前端部に設けられ、フリー状態では前記分割捕捉部をそれぞれ主軸(X0軸)心から拡径方向に開くように屈曲されて弾支する複数の弾性支持部材からなるロック部と、
前記プッシュ管に前進/後退自在に外嵌され、その前端部が前記ロック部後端部まで前進することにより前記弾性支持部材を外側から押圧して前記分割捕捉部を縮径方向に閉じ、その前端部が前記弾性支持部材から後退することにより前記分割捕捉部を拡径方向に開くロック調整管と、からなることを特徴とする請求項1乃至請求項4のいずれか1項記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記ロック部を被ロック部と係脱させるためのロック調整管を前進/後退させるロック調整管駆動機構が前記ヘッド部と支持軸部との接続部近傍内に収容され、
この駆動操作が前記操作部で遠隔制御されることを特徴とする請求項5記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記ヘッド部と支持軸部との接続部近傍内には、さらにワイヤレス送受信器及び電池が備えられ、
前記ロック調整管駆動機構の遠隔制御がワイヤレスで行われることを特徴とする請求項6記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記モノポーラ電極部は、前記套管針の後端部外周面に狭小面積が露出し埋設されていることを特徴とする請求項1又は請求項2記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。
- 前記モノポーラ電極部は、前記套管針の後端部外周面に軸方向に沿って適宜長の細帯状に露出されていることを特徴とする請求項1又は請求項2記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。
- 前記套管針が連結されたアンビル軸は、前記アンビル軸支持部に回転自在に支持されて回転手段に連結され、前記モノポーラ電極部にモノポーラ電流が通電される際に前記回転手段により回転されることを特徴とする請求項1又は請求項2記記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。
- 前記尖頭部(34Aa)は、前記巻取られるガイド電線により、前記套管針を介して順次焼灼された前記アンビル部側及びヘッド部側生体管の巾着縫合部位を貫通し、前記アンビル軸から離脱して前記ヘッド部内側に牽引されることを特徴とする請求項2記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。
- 前記アンビル部を前記ヘッド部に再連結する際に、前記ガイド細線部材を牽引して前記尖頭部(34Aa)をアンビル軸後端部から引き離し、前記アンビル部をヘッド部と連結/離脱させるためのプッシュ管が前記操作部の後端部まで開口し延設された後端開口部外に引き出した後、前記後端開口部から前記支持軸部内を経てヘッド部の前端部に至り挿脱自在に挿入され、先端部が套管針状に形成されて前記ロック部の分割捕捉部内を貫通する套管針状尖頭部(55a)、及び該套管針状尖頭部(55a)に連結された長尺可撓性のシャフト部(55b)からなり、
前記アンビル軸側の尖頭部(34Aa)が離脱されたアンビル軸後端部内に前記シャフト部(55b)先端の套管針状尖頭部(55a)を挿入することにより連結補助となるアンビル部連結補助具を備えることを特徴とする請求項2記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記アンビル部は、前記アンビル軸を支持し、前記ヘッド部に対し離間後に再度連結される際にヘッド部の主軸(X0軸)心と略一致するようにアンビル軸に対する傾斜姿勢を自動制御するアンビル姿勢制御機構が備えられていることを特徴とする請求項1又は請求項2記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。
- 前記アンビル姿勢制御機構は、アンビル軸の主軸(X軸)に対して直交する2軸(Y、Z軸)回りにそれぞれ揺動自在な2軸揺動機構と、
前記アンビル軸接続部位に設けられたY軸及びZ軸回り角度センサーと、
前記2軸揺動機構をY軸及びZ軸回りにそれぞれ駆動する駆動手段と、が備えられていることを特徴とする請求項13記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記2軸揺動機構は、前記アンビル部内に固定される第1の枠体にY軸回りに揺動自在な第2の枠体が設けられ、この第2の枠体にZ軸回りに揺動自在な前記アンビル軸を支持するアンビル軸支持部が設けられたジンバル機構からなることを特徴とする請求項14記載のNOTES用外科手術システム。
- 前記駆動手段は、前記2軸揺動機構をY軸及びZ軸回りにそれぞれ駆動制御するサーボモータからなることを特徴とする請求項14記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。
- 前記アンビル部は、前記アンビル軸を支持し、前記ヘッド部に対し離間後に再度連結される際にヘッド部の主軸(X0軸)心と略一致するようにアンビル軸に対する傾斜姿勢を自動制御するアンビル姿勢制御機構が備えられ、
前記アンビル姿勢制御機構は、アンビル軸の主軸(X軸)に対して直交する2軸(Y、Z軸)回りにそれぞれ揺動自在な2軸揺動機構と、
前記アンビル軸接続部位に設けられたY軸及びZ軸回り角度センサーと、
前記2軸揺動機構をY軸及びZ軸回りにそれぞれ駆動するサーボモータと、が備えられ、
前記ヘッド部内に設けられ、前記ヘッド部の主軸(X0軸)に直交する2軸(Y0軸、Z0軸)回り角度センサー及びこれら角度センサーの出力をワイヤレス送信するヘッド部側送受信器と、
前記アンビル部内に設けられ、前記ヘッド部側送受信器からY0軸及びZ0軸回り角度センサーの出力を受信するアンビル部側送受信器と、
前記アンビル姿勢制御機構のY軸及びZ軸回り角度センサーの出力と前記アンビル部側送受信器からのY0軸及びZ0軸回り角度センサーの出力とが入力されてそれぞれの角度データを検出する角度検出部、及び角度検出部からの角度データに基づいて第2の枠体及びアンビル軸のそれぞれの回転角度指標値を算出する指令算出部を有し、それらの回転角度指標値を基に第2の枠体及びアンビル軸の角度指令値を生成する角度指令生成部と、
前記角度指令生成部からの角度指令値に基づき、Y軸及びZ軸サーボモータに対して個別にサーボ制御を行うY軸及びZ軸制御部を有する駆動制御部と、を有し、
前記アンビル部が前記ヘッド部に再連結される際に、前記アンビル部がガイド細線部材により牽引されて前記ヘッド部のロック部内又はロック部が連設されて前記アンビル部をヘッド部と連結/離脱させるためのプッシュ管の前端部近傍内に当接した状態の套管針の後端部を基点(一時的固定点)として、その時点の前記ヘッド部の角度データに略一致するように前記アンビル軸の目標角度が与えられてアンビル部の姿勢を自動制御するアンビル姿勢制御システムをさらに備えたことを特徴とする請求項1記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記アンビル部は、前記アンビル軸を支持し、前記ヘッド部に対し離間後に再度連結される際にヘッド部の主軸(X0軸)心と略一致するようにアンビル軸に対する傾斜姿勢を自動制御するアンビル姿勢制御機構が備えられ、
前記アンビル姿勢制御機構は、アンビル軸の主軸(X軸)に対して直交する2軸(Y、Z軸)回りにそれぞれ揺動自在な2軸揺動機構と、
前記アンビル軸接続部位に設けられたY軸及びZ軸回り角度センサーと、
前記2軸揺動機構をY軸及びZ軸回りにそれぞれ駆動するサーボモータと、が備えられ、
前記ヘッド部内に設けられ、前記ヘッド部の主軸(X0軸)に直交する2軸(Y0軸、Z0軸)回り角度センサー及びこれら角度センサーの出力をワイヤレス送信するヘッド部側送受信器と、
前記アンビル部内に設けられ、前記ヘッド部側送受信器からY0軸及びZ0軸回り角度センサーの出力を受信するアンビル部側送受信器と、
前記アンビル姿勢制御機構のY軸及びZ軸回り角度センサーの出力と前記アンビル部側送受信器からのY0軸及びZ0軸回り角度センサーの出力とが入力されてそれぞれの角度データを検出する角度検出部、及び角度検出部からの角度データに基づいて第2の枠体及びアンビル軸のそれぞれの回転角度指標値を算出する指令算出部を有し、それらの回転角度指標値を基に第2の枠体及びアンビル軸の角度指令値を生成する角度指令生成部と、
前記角度指令生成部からの角度指令値に基づき、Y軸及びZ軸サーボモータに対して個別にサーボ制御を行うY軸及びZ軸制御部を有する駆動制御部と、を有し、
前記アンビル部が前記ヘッド部に再連結される際に、前記ヘッド部側の生体管内挿入本体及び前記アンビル部連結補助具が挿通されて前記アンビル部をヘッド部と連結/離脱させるためのプッシュ管が共に前進し押出されて前記アンビル軸の後端部に設けられた尖頭部連結穴内に当接した前記アンビル部連結補助具の套管針状尖頭部を基点(一時的固定点)として、その時点の前記ヘッド部の角度データに略一致するように前記アンビル軸の目標角度が与えられてアンビル部の姿勢を自動制御するアンビル姿勢制御システムをさらに備えたことを特徴とする請求項12記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 前記ヘッド部の先端近傍内に内視鏡先端部が配置されるワイヤレス内視鏡装置又はカプセル内視鏡装置が組込まれていることを特徴とする請求項1又は請求項2記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。
- 主軸(X軸)に沿って後方に突設され後端に套管針が設けられたアンビル軸を有し、先端部を構成するアンビル部と、
該アンビル部に対向して生体管を横断方向円管状に切断及び吻合するサーキュラーカッター及び吻合用ステープルを備えたヘッド部、及び該ヘッド部に接続された長尺可撓性の支持軸部を有する生体管内挿入本体と、
該生体管内挿入本体に接続されて前記サーキュラーカッター及び吻合用ステープルの駆出操作を制御する操作部と、
前記生体管内挿入本体内に挿通され、前記套管針の尖鋭端に巻取り/解放自在に接続されたガイド細線部材と、
前記アンビル軸及びヘッド部内中央部に相互に係脱可能な被ロック部、ロック部がそれぞれ設けられ、前記アンビル部とヘッド部とを連結又は離脱する連結機構と、
両端とも開放され、前記アンビル軸の後端部及び套管針部が挿通可能な長尺可撓性の中空管状体と、該中空管状体の後端部に設けられた把持部とからなり、前端部に前記アンビル軸の後端部及び套管針部を挿入して前記アンビル部を連結した状態で生体管内に挿入されるアンビル部挿入補助具と、を備え、
前記アンビル部が連結されたアンビル部挿入補助具が生物の自然開口部から病巣部を有する生体管内に挿入され、前記アンビル部がアンビル部挿入補助具の前端部から離脱されて残置されるとともに前記アンビル部挿入補助具が後退してそれぞれ前記生体管病巣部の前/後端部近傍まで離間した状態で、別途生体に開口された内視鏡用生体腔部から挿入され、前記ガイド細線部材を切らずに生体管のみを切断するための逃げ機構を有して生体管を横断方向直線状に切断するリニアカッター及びその生体管の切断端部を巾着縫合する縫合用ステープルを有するリニア切断/縫合装置により前記生体管外から病巣部が切断除去されるとともにその生体管の切断端部双方が巾着縫合された後に、前記アンビル部挿入補助具を後退させて自然開口部外に抜き取り、前記ヘッド部側の生体管内挿入本体を自然開口部から前記生体管内の巾着縫合部部位まで挿入してその生体管の切断端部双方同士を生体管内から円筒状に吻合すると同時に前記巾着縫合部の生体管部分を円形状に切断して連通状態に修復するサーキュラー吻合装置を具備し、
前記ガイド細線部材は、導電体からなるガイド電線であり、そのガイド電線の先端は、前記套管針の尖鋭端にモノポーラ電極部を介して接続され、前記套管針は、絶縁体からなるか、又は別途絶縁体を介して前記アンビル部軸に連設され、
前記巻取られるガイド電線を介して前記モノポーラ電極部にモノポーラ電流が通電されることにより前記アンビル部側及びヘッド部側生体管の双方の巾着縫合部位が順次焼灼され、前記套管針により挿通されて開口されることを特徴とする自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。 - 開閉する一方の顎に対向して生体管外から生体管を横断方向直線状に縫合する縫合用ステープル、及び前端側及び後端側の双方向から中間部に向けてそれぞれ往復移動可能な一対のリニアカッターを備えた他方の顎を有するエンド・エフェクタ、及び該エンド・エフェクタに接続された長尺可撓性の支持軸部を有する生体腔内挿入本体と、
該生体腔内挿入本体に接続されて前記縫合用ステープル及びリニアカッターの駆出操作を制御する操作部と、を有し、
主軸(X軸)に沿って後方に突設され後端に套管針が形成されたアンビル軸を有し、先端部を構成するアンビル部と、該アンビル部に対向して生体管を横断方向円管状に切断及び吻合するサーキュラーカッター及び吻合用ステープルを備えたヘッド部、及び該ヘッド部に接続された長尺可撓性の支持軸部を有する生体管内挿入本体と、該生体管内挿入本体に接続されて前記サーキュラーカッター及び吻合用ステープルの駆出操作を制御する操作部と、前記アンビル軸及びヘッド部内中央部に相互に係脱可能な被ロック部、ロック部がそれぞれ設けられ、前記アンビル部とヘッド部とを連結又は離脱させる連結機構と、を有するサーキュラー吻合装置のアンビル部及び生体管内挿入本体が連結された状態で生物の自然開口部から病巣部を有する生体管内に挿入され、アンビル部とヘッド部とがそれぞれ前記生体管病巣部の前/後端部近傍まで離間した状態で、
前記生体に別途開口された内視鏡用生体腔部から挿入され、生体管外から前記病巣部の前/後端部近傍を順次前記一対のリニアカッターにより横断方向直線状に切断するとともにその生体管の切断端部双方を前記縫合用ステープルによりそれぞれ巾着縫合して閉鎖するリニア切断/縫合装置を具備することを特徴とする自然開口部越管腔内視鏡手術(NOTES)外科手術システム。 - 前記エンド・エフェクタの一対のリニアカッターは、前記他方の顎内に設けられた切断/縫合ドライブ機構により相互に前後逆方向に往復移動することを特徴とする請求項21記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。
- 前記切断/縫合ドライブ機構は、
前記他方の顎内の前記一方の顎との対向面内に着脱自在に嵌装され、前記複数の縫合用ステープルを収容するステープルカートリッジの裏面側に対向して穿設されたチャンネル内に回転自在に並設され、前半部と後半部とに左右いずれか逆ねじの雄ねじが形成された切断/縫合ドライブシャフトと、
前記切断/縫合ドライブシャフトの左右逆ねじの雄ねじにそれぞれ螺合して切断/縫合ドライブシャフトの正逆回転に伴い前記チャンネル内を相互に前後逆方向に往復移動することにより前記縫合用ステープルを駆出するための楔機構を有する先側ステープル駆出駒及び後側ステープル駆出駒と、が備えられ、
前記一対のリニアカッターは、それぞれ前記先側ステープル駆出駒及び後側ステープル駆出駒に搭載され、双方の刃先が対向するように配置されて前記ステープルカートリッジ側方向に立設されていることを特徴とする請求項22記載の自然開口部越管腔内視鏡手術(NOTES)用外科手術システム。
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- 2009-04-28 US US12/989,730 patent/US8640940B2/en active Active
- 2009-04-28 KR KR1020107026634A patent/KR101565441B1/ko active IP Right Grant
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KR20110014611A (ko) | 2011-02-11 |
US8640940B2 (en) | 2014-02-04 |
KR101565441B1 (ko) | 2015-11-03 |
EP2283784A1 (en) | 2011-02-16 |
JPWO2009133875A1 (ja) | 2011-09-01 |
WO2009133875A1 (ja) | 2009-11-05 |
EP2283784A4 (en) | 2015-05-06 |
CN102014768B (zh) | 2013-01-30 |
US20110095067A1 (en) | 2011-04-28 |
CN102014768A (zh) | 2011-04-13 |
EP2283784B1 (en) | 2016-06-22 |
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