JP5388033B2 - Forceps control device, forceps control method, forceps member, and forceps with variable clamping force - Google Patents

Description

  The present invention relates to a forceps control device and a forceps control method capable of adjusting the pinching force of a forceps member according to time-varying variation data such as patient biological data at the time of surgery, and the shape and state of an object. The present invention relates to a forceps member whose gripping portion can be deformed accordingly, and a forceps member that opens and closes the forceps member based on the variation data and can securely clamp an object such as an organ with an optimal clamping force.

A general forceps used in a surgical operation has a pair of holding parts for holding a tissue at one end of a handle and a gripping part for inserting a finger at the other end of the handle. The forceps members are crossed and connected to each other by a connecting shaft at the crossing portion so that they can be opened and closed, and the holding portion is opened and closed by opening and closing the gripping portion.
For example, (Patent Document 1) discloses a forceps that accurately pinches hemorrhoids in a narrow anal canal, minimizes bleeding during surgery, and facilitates complications during ligation.
Further, (Patent Document 2) eliminates the critical limitation of surgical instruments having scissors structure to be received in endoscopic surgery in the abdominal cavity and chest cavity, and has the same convenience as the surgical operation under direct vision in laparotomy and thoracotomy. A forceps that provides safety and safety, as well as the economy of reducing the burden on patients and medical administration is disclosed, and a plurality of protrusions (ratchet mechanisms) that engage with each other are provided near the grip It is also known to fix the opening / closing angle (opening) of the clamping part in multiple stages.

JP-A-9-294746 JP 2004-209909 A

However, the above conventional technique has the following problems.
(1) A general forceps is manufactured entirely from a high-rigidity metal such as stainless steel or titanium, and when sandwiching an object such as an intestine or a blood vessel in the sandwiching part, the sandwiching part is not deformed. In order to hold the object in a shape as it is to be crushed, there is a problem that the object is compressed more than necessary and places a burden on the patient.
(2) Also, if the clamping part is formed flexibly, the object will not be compressed more than necessary, but the clamping force will be reduced, the object cannot be gripped reliably, the clamping position will shift, May fall off, fail to exhibit a sufficient function as forceps, and have a problem of lack of fixing stability and usability.
(3) The clamping part can be curved or the shape of the tip can be changed according to the size, shape, application, etc. of the object, but a wide variety of forceps must be prepared and handled. Has become a problem and has a problem of lack of versatility.
(4) In a forceps having a ratchet mechanism such as (Patent Document 2), the degree of opening of the clamping part can be adjusted and held in stages. The step width is fixed, the angle cannot be finely adjusted, it is difficult to freely select the clamping force, and there is a problem that the versatility is lacking.

The present invention has been made to solve the above-mentioned problems, and freely adjusts the opening / closing angle and interval of a forceps member that holds an object such as an organ based on fluctuation data such as biological data of a patient at the time of surgery. Forceps control device and forceps control with excellent fixation stability, labor saving, and versatility that can hold the target object with the optimal clamping force and can greatly reduce the burden on patients and doctors It aims to provide a method.
In addition, the clamping force can be easily adjusted by elastically deforming the clamping part, and the object such as an organ can be securely clamped with the optimal clamping force, thereby greatly reducing the burden on the patient or doctor. An object of the present invention is to provide a forceps member that is excellent in fixing stability, labor saving, and versatility.
Furthermore, the clamping force can be easily adjusted simply by changing the opening / closing angle and interval of the forceps member based on fluctuation data that changes with time, using a forceps member whose clamping portion is elastically deformable. To provide a clamping force variable forceps with excellent fixation stability, labor saving, and versatility that can securely clamp a target such as an object with an optimal clamping force and can greatly reduce the burden on patients and doctors. Objective.

In order to solve the above problems, a forceps control device, a forceps control method, and a clamping force variable forceps of the present invention have the following configurations.
The forceps control device according to claim 1 opens and closes a forceps member that clamps the organ or organ of the patient as an object based on fluctuation data of blood pressure, pulse, body temperature, or dissolved oxygen of the patient that varies with time. A forceps control device for controlling, a variation data monitoring device for acquiring the variation data, an opening / closing drive mechanism for opening / closing the forceps member, and the opening / closing drive mechanism based on the variation data acquired by the variation data monitoring device And a computer device for controlling the opening and closing of the forceps member, wherein the central processing unit of the computer device has a standard opening setting means for setting a standard opening of the forceps member, and an opening of the forceps member. Threshold value setting means for setting a threshold value for adjustment; fluctuation data reading means for reading the fluctuation data acquired by the fluctuation data monitoring device; The standard opening degree of the forceps member is set by the fluctuation amount calculating means for calculating the amount of movement, the fluctuation amount determining means for determining whether or not the fluctuation amount exceeds the threshold value, and the standard opening setting means. Motor control means for causing the motor of the opening / closing drive mechanism to rotate forward or reverse based on the standard opening or the fluctuation amount when the fluctuation amount determination means determines that the fluctuation amount exceeds the threshold value And motor rotation amount integration means for integrating the rotation amount of the motor.
This configuration has the following effects.
(1) and the variation data monitoring device for obtaining variation data, a closing drive mechanism for opening and closing the forceps members, and a computer device for controlling the opening and closing of the forceps members at the opening and closing drive mechanism on the basis of the variation data acquired by the variation data monitoring device Therefore, based on various fluctuation data (biological data) such as blood pressure, pulse, body temperature, dissolved oxygen, etc., which fluctuate at the time of surgery, the opening / closing angle and interval of the forceps member (these are collectively referred to as opening) Optimally adjusted, the load on the target object such as an organ held between forceps members can be minimized, and the burden on the patient can be greatly reduced, resulting in excellent labor saving and versatility.
(2) Since the central processing unit of the computer device has standard opening setting means for setting the standard opening of the forceps member, it is possible to reliably hold an object such as an organ with a sufficient holding force at the start of surgery. It can be fixed with excellent fixing reliability.
(3) Since there is a threshold value setting means for setting a threshold value for adjusting the opening of the forceps member, the optimum threshold value is selected according to the patient's condition, the contents of the operation, the difference in the object to be held, etc. Can be set, can greatly reduce the burden on patients and doctors, and is excellent in labor saving and versatility.
(4) Since it has fluctuation data reading means for reading fluctuation data acquired by the fluctuation data monitoring apparatus and fluctuation amount calculation means for calculating the fluctuation amount of fluctuation data, it is possible to reliably acquire fluctuation data that changes with time It is possible to accurately grasp the state of the forceps and is excellent in the reliability of forceps control.
(5) A fluctuation amount determining means for determining whether or not the fluctuation amount of fluctuation data exceeds a threshold value, and when the fluctuation amount determination means determines that the fluctuation amount exceeds the threshold value, the motor of the opening / closing drive mechanism is Since it has motor control means to rotate forward or reverse based on the fluctuation amount, the rotation amount of the motor of the open / close drive mechanism is controlled reliably based on the fluctuation amount of the fluctuation data, and the opening degree of the forceps member is always optimally adjusted Thus, the burden on patients and doctors can be greatly reduced, and it is excellent in labor saving, versatility and usability.
(6) Since the motor rotation amount integration means for integrating the rotation amount of the motor is provided, even if the motor is rotated forward or backward repeatedly based on the fluctuation amount of the fluctuation data, the opening degree of the forceps member is surely maintained without deviation. The forceps control is reliable and reliable.

Here, the fluctuation data monitoring device acquires various fluctuation data such as blood pressure, pulse, body temperature, dissolved oxygen, etc. of the patient that changes with time, and transmits the data to the computer device. As the forceps member, it is only necessary that the pair of sandwiching portions are arranged so as to be openable and closable, and those in which the pair of sandwiching portions are held so as to be relatively rotatable or freely adjustable in distance are preferably used. Further, the opening / closing drive mechanism may be any mechanism that can change the opening / closing angle and interval of the clamping portion (hereinafter, these are collectively referred to as the opening) in accordance with the structure of the forceps member. For example, a stepping motor capable of rotating in the forward and reverse directions may be combined with a gear, a link mechanism, or the like so that the pair of clamping portions are rotated relative to each other. In other words, the pair of holding portions may be relatively moved.
The computer device includes an input device such as a keyboard and a mouse, and a user can input necessary data and give instructions for controlling each unit.
Since the optimal clamping force (= opening of the forceps member) varies depending on the type of target object such as an organ clamped by the forceps member, the position to be clamped, and the patient's blood pressure, pulse rate, body temperature, dissolved oxygen, etc. In addition, it is preferable to obtain in advance a relationship between data such as the type of the object, the content of the operation, blood pressure, pulse, body temperature, dissolved oxygen, etc., and the optimum clamping force (= opening of the forceps member) corresponding thereto. . Based on these data, the standard opening (the opening when the object is first sandwiched as a reference when controlling the opening) and the threshold value (opened when the fluctuation data changes from the reference value). A determination value for determining whether or not to adjust the degree) is directly input from the input device, and the required rotation amount of the motor is instructed to the motor control means from the standard opening setting means or the threshold setting means. it can. In addition, the relationship between fluctuation data such as blood pressure, pulse, body temperature, dissolved oxygen, etc. and the optimum clamping force (= opening of the forceps member) is stored in a ROM of the computer device as a table (database) and input from the input device. The standard opening setting means and threshold setting means refer to the table based on basic data such as the age of the patient and normal blood pressure, pulse, body temperature, dissolved oxygen, etc. measured in advance. A threshold value may be set and the motor control means may be instructed about the necessary motor rotation amount.

The variation data reading means reads the variation data sent from the variation data monitoring device and stores it in the RAM of the computer device as needed. The fluctuation amount calculation means calculates the fluctuation amount from the fluctuation data at the start of surgery and the fluctuation data sent as needed.
The relationship between the rotation amount of the motor and the clamping force (= opening) of the forceps member is tested in advance, and the data is stored in the ROM of the computer device as a table (database). The motor control means selects or calculates the amount of rotation of the motor corresponding to the clamping force (= opening) required by the forceps member in accordance with instructions from the standard opening setting means and the threshold setting means, and the motor as much as necessary. Is rotated forward or reverse. The motor rotation amount integration means integrates the motor rotation amount instructed by the motor control means. For example, by adding the amount of rotation in the forward direction and subtracting the amount of rotation in the reverse direction (or vice versa), the amount of rotation of the motor from the reference position can be grasped and the opening of the forceps member can be accurately determined. Can be controlled.
By placing a pressure sensor such as a strain gauge on the forceps member and monitoring the pressure in the clamping part, it is possible to easily confirm whether or not the object is securely grasped, thereby reducing the burden on the doctor. it can. In addition, the amount of rotation of the motor can be adjusted based on the clamping force detected by the pressure sensor to generate the necessary gripping force, and it is possible to securely grip the object with the optimum gripping force without excess or deficiency. The gripping force adjustment is reliable and reliable.

The invention according to claim 2 is the forceps control device according to claim 1, wherein the central processing unit displays a change in the change data on the display device of the computer device, Motor torque display means for displaying torque during rotation of the motor.
With this configuration, in addition to the operation of the first aspect, the following operation is provided.
(1) Since the central processing unit has the fluctuation data display means for displaying the change of fluctuation data and the motor torque display means for displaying the torque at the time of rotation of the motor on the display device of the computer device, the fluctuation easily and visually. Data changes and motor torque can be confirmed. If there is an abnormality in the patient's condition or motor operation, stop the motor immediately or reverse the motor to open the forceps member. Therefore, the safety of the opening / closing control of the forceps member is excellent.

  Here, as the fluctuation data display means and the motor torque display means, those which display various fluctuation data and motor torque in a graph are excellent in visibility and are preferably used. The fluctuation data display means and the motor torque display means can notify that an abnormality has occurred by blinking display or a warning sound when a preset threshold value is exceeded. After confirming the abnormality, the user may issue a stop instruction to stop or reverse the motor, or forcibly stop or reverse the motor when a flashing display or warning sound continues for a predetermined time. A command for instructing may be issued.

The forceps control method according to claim 3 is a forceps control method in the forceps control device according to claim 1, wherein a standard opening setting step for setting a standard opening of the forceps member, and the standard opening A forceps member closing instruction step for instructing closing of the forceps member based on the degree and rotating the motor of the opening / closing drive mechanism, and a threshold value for setting a threshold value for adjusting the opening degree of the forceps member A setting step; a variation data reading step for reading the variation data acquired by the variation data monitoring device; a variation amount calculating step for calculating a variation amount of the variation data; and whether the variation amount exceeds the threshold value A variation amount determination step for determining whether or not the variation amount determination step determines that the variation amount has exceeded the threshold value. Has a motor control step of forward or reverse based, the motor rotation amount accumulation step of accumulating the amount of rotation of the motor, a configuration with a.
This configuration has the following effects.
(1) Since there is a standard opening setting step for setting the standard opening of the forceps member, and a forceps member closing instruction step for instructing closing of the forceps member based on the standard opening and rotating the motor of the opening / closing drive mechanism. At the start of surgery, a target such as an organ can be reliably clamped with a sufficient clamping force, and the fixation reliability is excellent.
(2) Since there is a threshold setting step for setting a threshold value for adjusting the opening of the forceps member, the optimum threshold value according to the patient's condition, the content of the operation, the difference in the object to be clamped, etc. Can be set, can greatly reduce the burden on patients and doctors, and is excellent in labor saving and versatility.
(3) Since it has a fluctuation data reading step for reading fluctuation data acquired by the fluctuation data monitoring device and a fluctuation amount calculation step for calculating the fluctuation amount of the fluctuation data, the fluctuation data changing with time can be reliably acquired and the patient It is possible to accurately grasp the state of the forceps and is excellent in the reliability of forceps control.
(4) A fluctuation amount determination step for determining whether or not the fluctuation amount of the fluctuation data exceeds a threshold value, and when the fluctuation amount determination step determines that the fluctuation amount exceeds the threshold value, the motor of the opening / closing drive mechanism is Since it has a motor control step to rotate forward or reverse based on the fluctuation amount, the rotation amount of the motor of the opening / closing drive mechanism is controlled reliably based on the fluctuation amount of the fluctuation data, and the opening degree of the forceps member is always optimally adjusted Thus, the burden on patients and doctors can be greatly reduced, and it is excellent in labor saving, versatility and usability.
(5) Since the motor rotation amount integration step for integrating the motor rotation amount is provided, the forceps member opening / closing angle can be reliably maintained even when the motor is rotated forward or backward repeatedly based on the fluctuation amount of the fluctuation data. The forceps control is reliable and reliable.

Here, in the standard opening setting step and threshold setting step, the standard opening and threshold directly input from the input device are stored, and the motor rotation required in the motor control step is based on those values. You can indicate the amount. In addition, the relationship between fluctuation data such as blood pressure, pulse, body temperature, dissolved oxygen, etc. and the optimum clamping force (= opening of the forceps member) is stored in a ROM of the computer device as a table (database) and input from the input device. Based on basic data such as normal age, blood pressure, pulse, body temperature, dissolved oxygen, etc. measured in advance, refer to the table above in the standard opening setting step and threshold setting step and A degree and a threshold value may be set to instruct the motor rotation amount required in the motor control step.
In the fluctuation data reading step, fluctuation data sent from the fluctuation data monitoring device is read and stored in the RAM of the computer device as needed. The fluctuation amount calculating step calculates the fluctuation amount from the fluctuation data (initial value) at the start of surgery and the fluctuation data sent as needed.
The relationship between the rotation amount of the motor and the clamping force (= opening) of the forceps member is tested in advance, and the data is stored in the ROM of the computer device as a table (database). The motor control step selects or calculates the amount of rotation of the motor corresponding to the clamping force (= opening) required by the forceps member in accordance with instructions from the standard opening setting step and the threshold setting step, and motors as necessary Is rotated forward or reverse. In the motor rotation amount integration step, the motor rotation amount (absolute value) specified in the motor control step is integrated. For example, by adding the rotation amount in the forward rotation direction and subtracting the rotation amount in the reverse rotation direction (or vice versa), the absolute amount of rotation of the motor can be grasped and the opening degree of the forceps member can be accurately controlled. .

A forceps control method according to a fourth aspect is the forceps control method according to the third aspect, in which a change data display step for displaying a change in the change data on the display device of the computer device, And a motor torque display step for displaying torque during rotation.
With this configuration, in addition to the operation of the third aspect, the following operation is provided.
(1) Since the display device of the computer device has a variation data display step for displaying the variation data variation and a motor torque display step for displaying the torque during rotation of the motor, the variation data variation and motor If there is an abnormality in the patient's condition or motor operation, the motor can be stopped immediately or the motor can be reversely rotated to open the forceps member. Excellent safety in opening / closing control of members.

  Here, in the fluctuation data display step and the motor torque display step, those which display various fluctuation data and motor torque in a graph are excellent in visibility and are preferably used. In the fluctuation data display step and the motor torque display step, when a preset threshold value is exceeded, it can be notified that an abnormality has occurred by blinking display, a warning sound, or the like. After confirming the abnormality, the user may issue a stop instruction to stop or reverse the motor, or forcibly stop or reverse the motor when a flashing display or warning sound continues for a predetermined time. It is also possible to issue a command for instructing.

The forceps member according to claim 5 is a forceps member in which a pair of sandwiching portions are opposed to each other so as to be openable and closable and are controlled to be opened and closed by the forceps control device according to claim 1, wherein at least one of the sandwiching portions is provided. Is longer than the length of the outer member that curves outwardly and the inner peripheral wall of the outer member, and shorter than the distance from the tip of the outer member to the rear end of the outer member along the inner peripheral wall. A plate-shaped inner member formed, one end of the inner member being fixed at the tip end portion of the outer member, and the other end being provided as a moving end to the rear end portion side of the outer member. It has a configuration.
This configuration has the following effects.
(1) At least one of the pair of sandwiching portions is an outer member that is convexly curved outward, one end is fixed at the distal end portion of the outer member, and the other end is provided as a moving end to the rear end portion side of the outer member. Since it has a plate-shaped inner member, when the inner member abuts on the object such as an organ such as the pancreas or intestine, an organ such as a blood vessel, or various instruments, etc. at the holding portion, the inner member moves. When the end moves to the tip (fixed end) side, the inner member can be elastically deformed to the outer member side (outer side) so that the center part of the inner member follows the shape (outer shape) of the target object. Without being pressed, it can be pinched to be securely grasped or pulled, reducing the burden on the doctor and excellent in usability.
(2) Since the rear end portion of the inner member is a moving end, elastic bending is possible, and the inner member can be deformed following the shape and state of the object such as the intestine, so that the object can be wrapped flexibly. The load on the object can be minimized, the burden on the patient can be greatly reduced, and the reliability and usability are excellent.
(3) Since the inner member is longer than the length of the inner peripheral wall of the outer member and shorter than the distance from the tip of the outer member to the rear end of the outer member along the inner peripheral wall, the inner member Even if the deformation is maximum, the moving end does not enter the gap formed between the outer member and the inner member. It can return to the position of the rear end part of a member, can return to the state which can pinch | interpose an object, and is excellent in operation | movement reliability and stability.
(4) The inner member that is elastically bendable and is connected to the outer member and the tip can not only securely pinch small items such as needles and threads with the tips contacting each other with the pinching portion closed. The object can be clamped with a delicate clamping pressure, and is highly versatile.
(5) The sandwiching part has a simple structure consisting of a plate-like outer member and inner member, has a small number of parts, is excellent in mass productivity, and has no fine irregularities or gaps, and can be easily cleaned and disinfected. It is excellent in maintenance and cleanliness.

Here, the forceps member is made of an engineering resin such as stainless steel, titanium, a titanium alloy, or polyamide. In particular, a forceps member made of titanium or a titanium alloy is excellent in corrosion resistance and biocompatibility and is preferably used.
As the inner member of the sandwiching portion, a member whose cross section is formed in a flat plate shape, a rod shape, a liquid plate (corrugated plate) shape, a member whose sandwiching surface is formed in an uneven shape, or the like is used. Although it depends on the material, the thickness is preferably 0.05 mm to 1 mm, and the width is preferably 2 mm to 10 mm.
For fixing the distal end portion of the outer member and the one end portion of the inner member, means such as spot welding or adhesive bonding, screwing, insertion, fitting, caulking, or the like can be used. In addition, when fixing of an inner member is made detachable, the workability | operativity of exchange and disinfection work when an inner member deforms plastically can be improved.
The inner member is formed in an elastically deformable leaf spring shape, and its length is longer than the length of the inner peripheral wall of the outer member. This is to prevent the moving end of the inner member from entering the inside of the arc of the inner peripheral wall and catching or the like when the object is clamped.
The structure of the other clamping part can be appropriately selected according to the type, shape, application, etc. of the object.For example, a structure having an outer member and an inner member similar to one clamping part may be used, You may form in simple plate shape. When the other clamping part is formed in a plate shape, if it is made more rigid than the inner member of one clamping part, the other clamping part will not be deformed outward and escape when the object is clamped. An object can be securely held.
Moreover, you may form the opposing surface between clamping parts in the uneven | corrugated shape which a clamping part cross section crosses a pair. In particular, when the holding surface has a longitudinal groove parallel to the longitudinal direction, it is easy to vertically slide, and it is difficult for a side slip to occur. Further, according to properties such as the shape and hardness of the object, a lateral groove, a lattice groove, or the like may be formed, or the sandwiching surface may be deformed by bending or bending.

Invention of Claim 6 is a forceps member of Claim 5, Comprising: The clearance gap formed between the said outer member and the said inner member WHEREIN: One step to several steps | paragraphs which have a larger curvature than the said outer member An arch-type elastic support member, wherein one end of the arch-type elastic support member is fixed to the outer member, and the other end is slidably contacted with the inner surface of the inner member have.
With this configuration, in addition to the operation of the fifth aspect, the following operation is provided.
(1) Since a arch-shaped elastic support member having a larger curvature than the outer member is disposed in the gap formed between the outer member and the inner member, the holding portion is opened and closed to open the organ In order to elastically deform along the shape of the object while the inner member that is in contact with the object is deformed so as to crush the elastic support member between the outer member and the object such as The object can be pinched in a flexible manner without squeezing the object more than necessary, minimizing the burden on the object, greatly reducing the burden on the patient, and excellent reliability .
(2) When the inner member abuts against the object and elastically deforms, the inner member can be supported by the reaction force generated by the compression of the elastic support member, and the target can be supported with an appropriate clamping force by the elasticity of the elastic support member. Objects can be pinched securely, the burden on patients and doctors can be greatly reduced, and it is excellent in labor saving, versatility, and usability.
(3) Since the elastic support member is disposed between the outer member and the inner member, the clamping force can be adjusted in a stepless manner according to the opening degree of the clamping part, and excess or deficiency of the clamping force occurs. The object can be clamped safely and reliably with an optimal clamping force, and the fixing reliability, stability and versatility are excellent.
(4) The holding pressure distribution can be adjusted by changing the elastic modulus and the number of steps of the arch-type elastic support member, which is excellent in versatility and design flexibility.
(5) Either one of the both ends of the arch-shaped elastic support member is not fixed, and the elastic support member exerts a pressing force on the outer member by making the movable end slidable along the inner surface of the inner member. It is transmitted but moment is not transmitted, and the inner member can be deformed according to the shape and state of the object, and is excellent in shape flexibility.
(6) The arch-type elastic support member has a simple configuration formed by bending a plate material, can be easily manufactured, and is excellent in assembling workability.
(7) Since the other end of the elastic support member is a moving end, the pinching pressure can be quickly and finely adjusted by changing the opening of the pinching portion according to changes in the blood pressure of the patient. Excellent versatility, operational stability and responsiveness.

Here, as the material of the arch-shaped elastic support member, engineering resin such as stainless steel, titanium or a titanium alloy, polyamide, or the like, which is the same as the forceps portion, is preferably used. In particular, an elastic support member made of titanium or a titanium alloy is excellent in corrosion resistance and is preferable.
The thickness of the arch-type elastic support member is preferably 0.05 mm to 1 mm, although it depends on the material. The width is the same as or slightly smaller than the inner member.
The arch-shaped elastic support member is formed in an arc shape having a larger curvature than that of the outer member, one end thereof is fixed to the outer member, and the moving end (the other end) is brought into contact with the inner surface of the inner member. With this deformation, the moving end can be deformed so as to be compressed (spreaded) between the outer member and the inner member while sliding along the inner surface of the inner member.
For fixing the one end of the arch-shaped elastic support member and the outer member, means such as spot welding or adhesive bonding, screwing, insertion, fitting, caulking, or the like can be used. The arch-shaped elastic support member may fix one end on the rear end side of the outer member and use the other end as a moving end, or fix one end on the front end side and use the other end as a moving end. In addition, the space | interval which a movement end can fully slide is provided between the movement end of an elastic support member, and the front-end | tip part or rear-end part of the adjacent outer member. When having a multi-stage arch-shaped elastic support member, the elastic support member with a large curvature is placed so that the elastic support member with a large curvature is located on the inner member side, and the elastic support member with a small curvature is located on the outer member side. It is preferable to arrange them at equal intervals.

The invention according to claim 7 is the forceps member according to claim 5, wherein the gap formed between the outer member and the inner member is any one of corrugated, circular, elliptical, and polygonal. It has the structure by which the elastic support member formed in the shape of this is arrange | positioned.
With this configuration, in addition to the same actions as in (2) and (3) of claims 5 and 6, the following actions are provided.
(1) Since the elastic support member formed in any one shape of a waveform, a circle, an ellipse, or a polygon is disposed in a gap formed between the outer member and the inner member, When sandwiching an object such as an organ by opening and closing it, the inner member that contacts the object deforms so as to crush the elastic support member between the outer member and elastically conform to the shape of the object Because it deforms, it can be sandwiched flexibly without squeezing the object more than necessary, minimizing the burden on the object, and greatly reducing the burden on the patient, Excellent reliability.
(2) The elastic support member formed in a wave shape, a circle, an ellipse, and a polygon can be fitted and held in the gap between the outer member and the inner member, can be easily attached and detached, and can be assembled and disassembled. It can be easily removed, cleaned and disinfected or replaced, and it is hygienic, safe and easy to maintain.
(3) The holding pressure distribution can be easily adjusted by changing the elastic modulus, number and type of the elastic support member, and the opening of the holding portion can be changed according to changes in the blood pressure of the patient. By changing the value, the delicate clamping pressure can be quickly adjusted, and the versatility, operational stability and responsiveness are excellent.
(4) The elastic support member has a configuration in which a plate material is processed into a simple shape such as a corrugated shape, a circular shape, an elliptical shape, or a polygonal shape, can be easily manufactured, and is excellent in assembly workability.
(5) By simply replacing the elastic support member with a different size or height, the shape and the situation of the object can be immediately adapted, and the versatility is excellent. For example, in the case of a circular shape, this can be achieved by properly using three types of diameters, large, medium and small.

  Here, the elastic support member only needs to be elastically deformed with the deformation of the inner member. The elastic support member is formed into a corrugated shape, a circle, an ellipse, a polygon, etc., and is sandwiched between the outer member and the inner member so that the elastic support member is compressed as the inner member is deformed. Can do. Each contact surface of the elastic support member, the outer member, and the inner member is formed with an uneven portion or the like that holds the elastic support member so that it does not come off during the operation. The fitting means is preferably formed on each. In addition, the contact point with the outer member or the inner member may be fixed by means such as welding or adhesion as long as the deformation of the elastic support member is not restricted. In addition, when forming an elastic support member in a waveform, shapes, such as a sine curve shape and a cosine curve shape, are used suitably.

The invention according to an eighth aspect is the forceps member according to any one of the fifth to seventh aspects, wherein the other holding portion has a flat plate shape or a facing surface gently curved outwardly. It has the structure formed.
With this configuration, in addition to the operation of any one of claims 5 to 7, the following operation is provided.
(1) When either one of the opposing clamping portions is formed in a flat plate shape, it can be easily inserted into a narrow gap between the organs and is excellent in workability.
(2) When either one of the opposing sandwiching portions is gently convexly curved outwardly, it is easy to sandwich an object having a large diameter in the middle of the sandwiching portion, and the object is located from the front end side of the sandwiching portion. It can be prevented from coming off, and it has excellent fixing reliability and stability.

The clamp force variable forceps according to claim 9 is a forceps control device according to claim 1 or 2 and a forceps member according to any one of claims 5 to 8 controlled to be opened and closed by the forceps control device. And a configuration provided with.
This configuration has the following effects.
(1) Since it has a forceps member that is controlled to open and close by the forceps control device, the forceps control device optimally adjusts the opening of the forceps member based on time-varying variation data, and is clamped by the forceps member. The burden on the subject such as an organ can be minimized, and the burden on the patient can be greatly reduced, resulting in excellent labor saving and versatility.
(2) At least one of the pair of clamping members of the forceps member is an outer member that is convexly curved outward, and one end is fixed at the distal end portion of the outer member and the other end is moved to the rear end side of the outer member as a moving end. Since the plate-shaped inner member is provided, the inner member moves when the inner member comes into contact with the object when the object such as an organ such as the pancreas or intestine or an organ such as the blood vessel is held by the holding portion. When the end moves to the tip (fixed end) side, the inner member can be elastically deformed to the outer member side (outer side) so that the center part of the inner member follows the shape (outer shape) of the target object. It can be pinched for gripping or towing without being pressed, reducing the burden on the doctor, and is excellent in usability and operation workability.

According to invention of Claim 1, it has the following effects.
(1) By obtaining the fluctuation data with the fluctuation data monitoring device, the opening degree of the forceps member is optimally adjusted by the opening / closing drive mechanism based on the fluctuation data that changes with time, and the organs that are clamped by the forceps member Therefore, it is possible to provide a forceps control device with excellent labor-saving and versatility that can greatly reduce the burden on the patient while minimizing the load on the object.

According to invention of Claim 2, in addition to the effect of Claim 1, it has the following effects.
(1) The change of variation data and motor torque can be easily and visually confirmed by the display device. If there is an abnormality in the patient's condition or motor operation, the motor can be stopped immediately or the motor can be stopped. Thus, it is possible to provide a forceps control device that can reversely rotate the forceps to open the forceps member and is excellent in safety of opening / closing control of the forceps member.

According to invention of Claim 3, it has the following effects.
(1) By calculating the fluctuation amount of the fluctuation data based on the temporal change of the fluctuation data acquired by the fluctuation data monitoring device, it is possible to accurately grasp the patient's condition and controlling the opening / closing drive mechanism to forceps It is possible to provide a forceps control method excellent in labor saving, versatility, usability, and reliability of forceps control that can constantly adjust the opening of the member optimally and greatly reduce the burden on patients and doctors. it can.

According to invention of Claim 4, in addition to the effect of Claim 3, it has the following effects.
(1) By displaying the fluctuation data and motor torque on the display device, it is possible to easily check these changes visually, and if there is an abnormality in the patient's condition or motor operation, It is possible to provide a forceps control method excellent in safety of opening / closing control of the forceps member that can be stopped or the forceps member can be opened by rotating the motor in the reverse direction.

According to invention of Claim 5, in addition to the effect of Claim 4, it has the following effects.
(1) The pair of sandwiching portions includes a gap between the outer member connected at the tip and bent outwardly and the inner member capable of elastic bending, and the inner member and the inner member. The inner member is deformed according to the shape and state of the object, and is clamped while the object does not come off, come off, or slip from the tip of the clamping part, and the outer member and the plate are excellent. Therefore, a forceps member that is easy to manufacture and that can be easily cleaned and disinfected can be provided.

According to invention of Claim 6, in addition to the effect of Claim 5, it has the following effects.
(1) The clamping portion has an arch-shaped elastic support member of one to a plurality of stages arranged in the gap, and the clamping pressure can be delicately adjusted according to the type of the organ, etc. By selecting the elastic modulus and the number of steps of the arch-shaped elastic support member according to the shape and state, a forceps member with excellent versatility and functionality that can be used for a wide variety of objects with a small number is provided. be able to.

According to invention of Claim 7, in addition to the effect of Claim 5, it has the following effects.
(1) The elastic support member formed in one of the waveform, circular shape, elliptical shape, and polygonal shape can be easily attached and detached by simply fitting and fixing in the gap, and the clamping pressure can be adjusted even during surgery. It is possible to provide a forceps member that is excellent in handling and workability.

According to invention of Claim 8, in addition to the effect of Claim 5, it has the following effects.
(1) Since the other clamping part is a flat plate or a plate material that is gently curved outwardly, it is easy to insert into a narrow gap between organs and has excellent clamping reliability and workability. A member can be provided.
(2) When the other clamping part is formed by gently curving, it is easy to clamp the object in the middle of the clamping part, and it is excellent in the clamping reliability and the workability of the surgical work that can prevent the object from falling off. A forceps member can be provided.

According to invention of Claim 9, it has the following effects.
(1) When an object such as an organ such as the pancreas or intestine or an organ such as a blood vessel is sandwiched between forceps members, the forceps control device optimizes the opening of the forceps members based on temporally varying data. By adjusting, the inner member can be flexibly deformed according to the shape and state of the object, and the object is not excessively pressed, and the load on the object can be securely held to a minimum. In addition, it is possible to provide a forceps with variable clamping force that can greatly reduce the burden on patients and doctors and is excellent in labor saving, versatility, and operability in surgery.

FIG. 3 is a device block diagram showing a configuration of a clamping force variable forceps including the forceps control device according to the first embodiment. Functional block diagram showing the function realization means of the central processing unit of the forceps control device of the first embodiment The flowchart which shows operation | movement of the central processing unit of the forceps control apparatus of Embodiment 1. The principal part schematic side view which shows the state before operation | movement of the forceps member of the clamping force variable forceps provided with the forceps control device of Embodiment 1. The principal part schematic side view which shows the state at the time of operation | movement of the forceps member of the clamping force variable forceps provided with the forceps control device of Embodiment 1. Partially enlarged plan view showing a modification of the second clamping part

Hereinafter, a forceps control device, a forceps control method, a forceps member, and a holding force variable forceps according to Embodiment 1 of the present invention will be described with reference to the drawings.
(Embodiment 1)
FIG. 1 is a device block diagram showing a configuration of a clamping force variable forceps including the forceps control device according to the first embodiment.
In FIG. 1, reference numeral 1 denotes a clamping force variable forceps provided with the forceps control device 1A according to the first embodiment, and 2 denotes a forceps control device 1A that acquires fluctuation data such as blood pressure, pulse, body temperature, dissolved oxygen, etc. The fluctuation data monitoring device 3 is an opening / closing drive mechanism of a forceps control device 1A for opening / closing a forceps member 15 described later, and 4 is an opening / closing drive mechanism 3 for opening / closing the forceps member 15 based on fluctuation data acquired by the fluctuation data monitoring device 2. The computer device of the forceps control device 1A for controlling the computer 5 is a central processing unit of the computer device 4, and 6 is a keyboard and mouse for the user to input necessary data and give instructions to control each part 7 is a display device such as a monitor for displaying various data on the screen, 8 is variation data sent from the variation data monitoring device 2, data inputted from the input device 6, etc. The RAM of the computer device 4 for storing, the ROM 9 for storing a program executed when the computer device 4 is started, 10 the reading device for the computer device 4 for reading data from a recording medium such as FD and MO, and 15 for a pair. Is a forceps member of the forceps controllable forceps 1 that is opposed to be freely opened and closed and is controlled to be opened and closed by the forceps control device 1A.

The fluctuation data monitoring device 2 acquires various fluctuation data such as blood pressure, pulse, body temperature, dissolved oxygen, etc. of the patient that changes with time, and transmits the data to the computer device 4.
The forceps member 15 only needs to have a pair of sandwiching portions opposed to each other so as to be openable and closable, and a member in which the pair of sandwiching portions are held rotatably or slidably can be used. The opening / closing drive mechanism 3 changes the opening / closing angle and interval of the sandwiching portion (these are collectively referred to as the opening) in accordance with the structure of the forceps member 15. For example, a stepping motor capable of rotating in the forward and reverse directions may be combined with a gear, a link mechanism, or the like so that the pair of clamping portions are rotated relative to each other. In other words, the pair of holding portions may be relatively moved.

Next, the function realization means of the central processing unit 5 will be described with reference to the drawings.
FIG. 2 is a functional block diagram showing function realization means of the central processing unit of the forceps control device of the first embodiment.
In FIG. 2, 51 of the central processing unit 5 is a basic data reading means for reading basic data such as the patient's age and pre-measured normal blood pressure, pulse, body temperature, dissolved oxygen and the like from the input device 6 and the reading device 10. Is a standard opening setting means for setting the standard opening of the forceps member 15, 53 is a threshold setting means for setting a threshold for adjusting the opening of the forceps member 15, and 54 is the fluctuation data monitoring device 2. Fluctuation data reading means for reading the obtained fluctuation data, 55 is a fluctuation data display means for displaying various fluctuation data on the display device 7 in a graph or the like, and 56 is for calculating the fluctuation amount of the fluctuation data read by the fluctuation data reading means. The fluctuation amount calculating means 57 for determining whether or not the fluctuation amount calculated by the fluctuation amount calculating means exceeds the threshold value set by the threshold value setting means 53, 58 When the standard opening degree of the forceps member 15 is set by the quasi-opening setting means 52 or when the fluctuation amount determining means 57 determines that the fluctuation amount exceeds the threshold value, the motor of the opening / closing drive mechanism 3 is set to the standard opening degree. Motor control means for normal rotation or reverse rotation based on the fluctuation amount, 59 a motor torque display means for displaying the motor torque on the display device 7 in a graph or the like, 60 a motor rotation amount integration means for integrating the motor rotation amount, 61 Motor control means by determining that a stop instruction has been input when the user has detected an abnormality and issued a stop instruction, or when an instruction to stop the motor is detected by detecting an abnormality in the motor torque, etc. This is stop instruction input determination means for causing 58 to stop or reverse the motor.

The functions realized by the means 51 to 61 will be described based on the operation of the central processing unit 5.
FIG. 3 is a flowchart showing the operation of the central processing unit of the forceps control device of the first embodiment.
In FIG. 3, when the computer device 4 is activated, the central processing unit 5 waits for input of basic data such as the patient's age, normal blood pressure, pulse, body temperature, dissolved oxygen, etc. (S1: Basic data reading step). The basic data may be input directly from the input device 6 such as a keyboard by the user, or may be read from the reading device 10 that is recorded in advance on a recording medium such as FD or MO.

After confirming that the basic data has been input by the basic data reading means 51, the standard opening of the forceps member 15 is set by the standard opening setting means 52 (S2: standard opening setting step). The standard opening is a reference for controlling the opening of the forceps member 15 and is the initial opening when the object is held.
Note that the optimum holding force (= the opening of the forceps member) depends on the type and position of the object such as an organ held by the forceps member 15 and the blood pressure, pulse, body temperature, dissolved oxygen, etc. of the patient at that time. Since it changes, in advance, the relationship between the type of the object and the content of the operation, blood pressure, pulse, body temperature, dissolved oxygen, etc., and the optimum clamping force (= opening of the forceps member 15) corresponding to them is obtained. If these relationships are stored in the ROM 9 of the computer device 4 as a table (database), the standard opening can be set with reference to the table based on the input basic data. Alternatively, based on the basic data, the user can directly input the set value of the standard opening degree from the input device 6.
The standard opening setting means 52 instructs the motor control means 58 to turn the motor necessary to close the forceps member 15 based on the set standard opening (S3: forceps member closing finger step).
Moreover, the threshold value setting means 53 sets the threshold value for adjusting the opening degree of the forceps member 15 (S4: threshold value setting step). The threshold value is a determination value for determining how much the fluctuation data fluctuates from its reference value (initial value) to adjust the opening degree.
Similarly to the standard opening described above, the threshold value can also be selected and set by referring to a pre-stored table, and the user can input the input device based on the basic data of the patient and the fluctuation data at that time. 6 can also be input directly.

Next, the fluctuation data reading means 54 starts reading the fluctuation data acquired by the fluctuation data monitoring device 2 (S5: fluctuation data reading step). The variation data reading means reads the variation data sent from the variation data monitoring device 2 and stores it in the RAM 8 of the computer device 4 as needed.
At this time, the fluctuation data display means 55 displays the change of the fluctuation data read by the fluctuation data reading means 54 as a graph on the display device 7 of the computer apparatus 4 (S6: fluctuation data display step).
The fluctuation amount calculating means 56 calculates the fluctuation amount of the fluctuation data read by the fluctuation data reading means 54 (S7: fluctuation amount calculating step). At this time, the fluctuation amount calculating means 56 calculates the fluctuation amount from the fluctuation data at the start of the operation and the fluctuation data sent as needed.

The fluctuation amount determination means 57 determines whether or not the fluctuation amount calculated by the fluctuation amount calculation means 56 exceeds a threshold value (S8: fluctuation amount determination step). When it is determined in the fluctuation amount determination step that the fluctuation amount does not exceed the threshold value, the flow returns to the fluctuation data reading step S5 and reading of the fluctuation data is continued. When it is determined that the fluctuation amount exceeds the threshold value, the motor control unit 58 is instructed to rotate the motor of the opening / closing drive mechanism 3 forward or backward based on the fluctuation amount (S9: Motor control instruction). Step). Accordingly, it is possible to always hold an object such as an organ with an optimal holding force based on the fluctuation data.
For example, in intestinal surgery, if the patient's blood pressure rises, the pressure in the intestine also rises, increasing the pinching force. However, excessive pressure may cause necrosis of the intestinal tissue. By clamping with the optimum clamping force, the intestinal tract can be reliably clamped without imposing a burden on the patient, and the operability of the operation can be improved. Further, if the threshold value is set small, the clamping force can be adjusted in seconds according to the blood pressure that changes with time.
In addition, by arranging a pressure sensor such as a strain gauge on the forceps member 15 and monitoring the pressure of the clamping part, it is possible to easily confirm whether or not the object can be securely grasped, and the burden on the doctor is reduced. Can be reduced. In addition, the necessary gripping force can be generated by adjusting the rotation amount of the motor of the opening / closing drive mechanism 3 based on the clamping force detected by the pressure sensor, and the target object can be reliably secured with the optimum gripping force without excess or deficiency. The gripping force adjustment is reliable and reliable.

The motor torque display means 59 displays the change in torque during the rotation of the motor as a graph on the display device 7 of the computer device 4 (S10: motor torque display step). As a result, when an abnormality is found in the operation of the motor, the motor can be stopped immediately or the motor can be reversely rotated to open the forceps member 15. Excellent.
Further, the motor rotation amount integration means 60 integrates the motor rotation amount (S11: motor rotation amount integration step). At this time, the motor rotation amount integrating means 60 integrates the motor rotation amount instructed from the motor control means 58. For example, the amount of rotation of the forceps member 15 can be accurately determined by adding the amount of rotation in the forward direction and subtracting the amount of rotation in the reverse direction (or vice versa) to accurately determine the amount of rotation of the motor from the reference position. Can be controlled.

  The central processing unit 5 continues to read the variation data until it is determined by the stop instruction input determination means 61 that a stop instruction has been input (S12: stop instruction input determination step). Then, when the stop instruction input determination means 61 determines that the operation has been completed and the user has issued a stop instruction, or when it has been determined that the user has detected an abnormality and has issued a stop instruction, or the motor torque or When it is determined that a stop instruction has been issued by detecting an abnormality in the motor rotation amount, a command to stop or reverse the motor is issued from the motor control means 58, the forceps member 15 is opened, and the operation is completed (S13: Forceps member release instruction step).

Next, details of the forceps member that is controlled to open and close by the forceps control device of the first embodiment will be described.
FIG. 4 is a schematic side view of a main part showing a state before operation of the forceps member of the holding force variable forceps including the forceps control device according to the first embodiment, and FIG. 5 includes the forceps control device according to the first embodiment. It is a principal part schematic side view which shows the state at the time of operation | movement of the forceps member of clamping force variable forceps.
4 and 5, 3a is a base of the opening / closing drive mechanism 3 of the forceps control device 1A of the first embodiment, 3a 'is a side plate portion erected on one side of the base 3a, and 3b is a base 3a. The motor of the opening / closing drive mechanism 3 disposed above, 3c is a rotating shaft of the motor 3b, 3e is a bolt shaft connected to the rotating shaft 3c by a connecting member 3d, and 3f and 3g rotate both ends of the bolt shaft 3e. A bearing portion 3h that is freely supported, 3h is a sliding portion that is screwed to the bolt shaft 3e and guided by the base 3a and the side plate portion 3a ', and moves back and forth according to forward and reverse rotation of the bolt shaft 3e, 15 is a pair of clamping portions 16 and 17 are forceps members configured to be opposed to each other so as to be openable and closable; 16 is a first plate-like first pinching portion of the forceps member 15 extending horizontally from the base 3a; and 16a is a first pinching portion 16 16b is a rear end portion of the first holding portion 16 and a rear end portion of the second holding portion 17 is pivotally supported so as to be rotatable. A rotation center axis, 18 is an outer member of the second holding part 17 formed to be curved outwardly in an arch shape, and 18c is a second bent and extended from the rear end part 18b of the outer member 18. The arm part 19 of the clamping part 17 is elastically bendable with a distal end 19a fixed at the distal end part 18a of the outer member 18 and a rear end 19b extending to the rear end part 18b side of the outer member 18 as a moving end to form a clamping surface. A long plate-like inner member of the second sandwiching portion 17, 20 is a clearance between the second sandwiching portion 17 formed between the outer member 17 and the inner member 19, and 21 and 22 are clearances 20 between the second sandwiching portion 17. The front ends 21a and 21b are slidably abutted against the inner surface of the inner member 19 as moving ends within the gap 20 of the inner member 19, and the rear ends 21b and 22b are fixed to the inner surface on the rear end portion 18b side of the outer member 18. And an arc formed with a larger curvature than the outer member 18. The first and second elastic support members 25 are pivotable to the rear end portion of the arm portion 18c of the second clamping portion 17 and the sliding portion 3h of the opening / closing drive mechanism 3 at the pivot portions 25a and 25b at both ends. It is the linked link part. In FIG. 5, reference numeral 30 denotes an object such as an organ such as a small intestine or a large intestine.
For convenience of explanation, only the side plate portion 3a ′ on the back side of the base 3a is shown, but it is preferable to provide a side plate portion on the front side of the base 3a.

The first and second sandwiching portions 16 and 17 are made of stainless steel, titanium, or a titanium alloy, and the elastic support members 21 and 22 are made of high alloy steel such as stainless steel having a thickness of 0.5 mm. It is because it is excellent in corrosion resistance and heat resistance, and is hygienic, safe and durable.
In the present embodiment, the base 3a and the first sandwiching portion 16 are integrally formed. However, the present invention is not limited to this, and the first sandwiching portion 16 is formed as a separate member, and the base 3a and the side plate portion 3a. It may be fixed to '. In addition, by making the bottom surface of the base 3a and the bottom surface of the first sandwiching portion 16 flush with each other, the height of the first sandwiching portion 16 can be easily adjusted based on the installation height of the base 3a. Excellent workability and handling for height adjustment. By fixing the opening / closing drive mechanism 3 to an XYZ stage, a θ stage or the like, the position and orientation of the forceps member 15 can be freely adjusted together with the opening / closing drive mechanism 3.
The outer member 18 of the second clamping part 17 is formed in the same plate shape as the inner member 19 and has the same width as the inner member 19. The outer member 18 curves outwardly in an arch shape, the inner member 19 is flat, and the height between the outer member 18 and the inner member 19 increases from the tip 18a to the center of the arcuate inner peripheral wall surface. A gap 20 is formed which becomes smaller again toward the rear end 18b.

In the gap 20, the two-stage arch-shaped elastic support members 21, 22 are fixed to the rear end portion 18 b of the outer member 18 at the rear ends 21 b, 22 b, and the front ends 21 a, 21 b are located inside the inner member 19. It is arranged in a state in contact with. The arch-shaped elastic support members 21 and 22 need only have one end fixed to the outer member 18 and the other end slidably contacting the inner surface of the inner member 18. May be fixed to the front end portion 18a of the outer member 18, and the rear ends 21b and 22b may be used as moving ends in contact with the inner side of the inner member 19.
The arch-shaped elastic support members 21 and 22 are made thin so that they can be bent within elastic deformation.

For fixing the distal end portion 18a of the outer member 18 and the distal end 19a of the inner member 19, means such as spot welding or adhesive bonding, screwing, insertion, fitting, caulking, or the like is used depending on the material. The inner member 19 may be fixed in a removable manner. This is because the workability of replacement and disinfection work when the inner member 19 is plastically deformed can be improved.
The length of the inner member 19 is formed longer than the length of the inner peripheral wall of the outer member 18. This is to prevent the moving end (rear end 19b) of the inner member 19 from entering the inside of the arc of the inner peripheral wall of the outer member 18 and catching or the like when the object is clamped.

The operation of the forceps member 15 configured as described above will be described.
When the motor 3b of the opening / closing drive mechanism 3 is driven from the state of FIG. 4 and the bolt shaft 3e rotates forward together with the rotating shaft 3c, the sliding portion 3h moves forward on the base 3a. Thereby, as shown in FIG. 5, the link part 25 rotates, the 2nd clamping part 17 of the forceps member 15 rotates using the rotation center axis | shaft 16b as a fulcrum, and the opening degree of the forceps member 15 becomes small, The object 30 can be clamped between the first and second clamping sections 16 and 17.
When the inner member 19 holds the object 30 in the middle thereof, the inner member 19 is deformed to some extent while being bent outwardly in the gap 20 along the outer shape of the object 30, and excessive pressure is applied to the object 30. Instead, it can flexibly cope with the expansion and contraction of the object 30 while being held.
As described above, the opening degree of the forceps member 15 is adjusted by rotating the motor 3b of the opening / closing drive mechanism 3 forward and backward by the motor control means 58 based on the fluctuation amount of the fluctuation data and controlling the rotation amount. Therefore, it is possible to always hold the object 30 such as an organ with an optimal holding force.

  In the present embodiment, as the forceps member, a member in which the first holding part 16 and the second holding part 17 are rotatably held is used, but the forceps member is not limited to this, and a pair of forceps members is used. It is only necessary that the sandwiching portions are arranged so as to be openable and closable. For example, it is possible to use one in which the interval is held so that one or both of the pair of sandwiching portions move relatively. In that case, the opening / closing drive mechanism may be configured to convert the rotational motion of the motor into a linear motion by combining a rack and a pinion, and to move the pair of clamping portions relatively.

Next, a modified example of the second clamping unit will be described.
FIG. 6 is a partially enlarged plan view showing a modified example of the second clamping unit.
6 is different from the first embodiment in that a circular elastic support having the same or smaller width as the inner member 19 is used instead of the two-stage arch-shaped elastic support members 21 and 22. This is the point that the member 23 is detachably fitted and secured.
The shape of the elastic support member is not limited to this, and any shape that can be elastically deformed with the deformation of the inner member 19 may be used.
In the present embodiment, the first sandwiching portion 16 is formed in a long flat plate shape, but when it is gently curved convexly outwardly, an object having a large diameter is easily sandwiched between the sandwiching portions, and It is possible to prevent the object from coming off from the front end side of the clamping portion, and it is excellent in fixing reliability and stability. Further, instead of the first clamping unit 16, two second clamping units 17 may be arranged to face each other.

As described above, the forceps control device according to Embodiment 1 has the following operations.
(1) and the variation data monitoring device for obtaining variation data, a closing drive mechanism for opening and closing the forceps members, and a computer device for controlling the opening and closing of the forceps members at the opening and closing drive mechanism on the basis of the variation data acquired by the variation data monitoring device Therefore, based on various fluctuation data such as blood pressure, pulse, body temperature, dissolved oxygen, etc., which fluctuate at the time of surgery, the opening / closing angle and interval of the forceps member (these are collectively referred to as opening) are optimally adjusted. The load on the target object such as an organ held between the forceps members can be minimized, and the burden on the patient can be greatly reduced, resulting in excellent labor saving and versatility.
(2) Since the central processing unit of the computer device has standard opening setting means for setting the standard opening of the forceps member, it is possible to reliably hold an object such as an organ with a sufficient holding force at the start of surgery. It can be fixed with excellent fixing reliability.
(3) Since there is a threshold value setting means for setting a threshold value for adjusting the opening of the forceps member, the optimum threshold value is selected according to the patient's condition, the contents of the operation, the difference in the object to be held, etc. Can be set, can greatly reduce the burden on patients and doctors, and is excellent in labor saving and versatility.
(4) Since it has fluctuation data reading means for reading fluctuation data acquired by the fluctuation data monitoring apparatus and fluctuation amount calculation means for calculating the fluctuation amount of fluctuation data, it is possible to reliably acquire fluctuation data that changes with time It is possible to accurately grasp the state of the forceps and is excellent in the reliability of forceps control.
(5) A fluctuation amount determining means for determining whether or not the fluctuation amount of fluctuation data exceeds a threshold value, and when the fluctuation amount determination means determines that the fluctuation amount exceeds the threshold value, the motor of the opening / closing drive mechanism is Since it has motor control means to rotate forward or reverse based on the fluctuation amount, the rotation amount of the motor of the open / close drive mechanism is controlled reliably based on the fluctuation amount of the fluctuation data, and the opening degree of the forceps member is always optimally adjusted Thus, the burden on patients and doctors can be greatly reduced, and it is excellent in labor saving, versatility and usability.
(6) Since the motor rotation amount integration means for integrating the rotation amount of the motor is provided, even if the motor is rotated forward or backward repeatedly based on the fluctuation amount of the fluctuation data, the opening degree of the forceps member is surely maintained without deviation. The forceps control is reliable and reliable.
(7) Since the central processing unit has the fluctuation data display means for displaying the change of fluctuation data and the motor torque display means for displaying the torque at the time of rotation of the motor on the display device of the computer device, the fluctuation easily and visually. Data changes and motor torque can be confirmed. If there is an abnormality in the patient's condition or motor operation, stop the motor immediately or reverse the motor to open the forceps member. Therefore, the safety of the opening / closing control of the forceps member is excellent.

As described above, the forceps control method according to Embodiment 1 has the following operations.
(1) Since there is a standard opening setting step for setting the standard opening of the forceps member, and a forceps member closing instruction step for instructing closing of the forceps member based on the standard opening and rotating the motor of the opening / closing drive mechanism. At the start of surgery, a target such as an organ can be reliably clamped with a sufficient clamping force, and the fixation reliability is excellent.
(2) Since there is a threshold setting step for setting a threshold value for adjusting the opening of the forceps member, the optimum threshold value according to the patient's condition, the content of the operation, the difference in the object to be clamped, etc. Can be set, can greatly reduce the burden on patients and doctors, and is excellent in labor saving and versatility.
(3) Since it has a fluctuation data reading step for reading fluctuation data acquired by the fluctuation data monitoring device and a fluctuation amount calculation step for calculating the fluctuation amount of the fluctuation data, the fluctuation data changing with time can be reliably acquired and the patient It is possible to accurately grasp the state of the forceps and is excellent in the reliability of forceps control.
(4) A fluctuation amount determination step for determining whether or not the fluctuation amount of the fluctuation data exceeds a threshold value, and when the fluctuation amount determination step determines that the fluctuation amount exceeds the threshold value, the motor of the opening / closing drive mechanism is Since it has a motor control step to rotate forward or reverse based on the fluctuation amount, the rotation amount of the motor of the opening / closing drive mechanism is controlled reliably based on the fluctuation amount of the fluctuation data, and the opening degree of the forceps member is always optimally adjusted Thus, the burden on patients and doctors can be greatly reduced, and it is excellent in labor saving, versatility and usability.
(5) Since the motor rotation amount integration step for integrating the motor rotation amount is provided, the forceps member opening / closing angle can be reliably maintained even when the motor is rotated forward or backward repeatedly based on the fluctuation amount of the fluctuation data. The forceps control is reliable and reliable.
(6) Since the display device of the computer device has a variation data display step for displaying the variation data variation and a motor torque display step for displaying the torque during rotation of the motor, the variation data variation and motor If there is an abnormality in the patient's condition or motor operation, the motor can be stopped immediately or the motor can be reversely rotated to open the forceps member. Excellent safety in opening / closing control of members.

As described above, the forceps member used in the forceps control device according to Embodiment 1 has the following operations.
(1) At least one of the pair of sandwiching portions is an outer member that is convexly curved outward, one end is fixed at the distal end portion of the outer member, and the other end is provided as a moving end to the rear end portion side of the outer member. Since it has a plate-shaped inner member, when the inner member abuts on the object such as an organ such as the pancreas or intestine, an organ such as a blood vessel, or various instruments, etc. at the holding portion, the inner member moves. When the end moves to the tip (fixed end) side, the inner member can be elastically deformed to the outer member side (outer side) so that the center part of the inner member follows the shape (outer shape) of the target object. Without being pressed, it can be pinched to be securely grasped or pulled, reducing the burden on the doctor and excellent in usability.
(2) Since the rear end portion of the inner member is a moving end, elastic bending is possible, and the inner member can be deformed following the shape and state of the object such as the intestine, so that the object can be wrapped flexibly. The load on the object can be minimized, the burden on the patient can be greatly reduced, and the reliability and usability are excellent.
(3) Since the inner member is longer than the length of the inner peripheral wall of the outer member and shorter than the distance from the tip of the outer member to the rear end of the outer member along the inner peripheral wall, the inner member Even if the deformation is maximum, the moving end does not enter the gap formed between the outer member and the inner member. It can return to the position of the rear end part of a member, can return to the state which can pinch | interpose an object, and is excellent in operation | movement reliability and stability.
(4) The inner member that is elastically bendable and is connected to the outer member and the tip can not only securely pinch small items such as needles and threads with the tips contacting each other with the pinching portion closed. The object can be clamped with a delicate clamping pressure, and is highly versatile.
(5) The sandwiching part has a simple structure consisting of a plate-like outer member and inner member, has a small number of parts, is excellent in mass productivity, and has no fine irregularities or gaps, and can be easily cleaned and disinfected. It is excellent in maintenance and cleanliness.
(6) Since an arch-shaped elastic support member having a larger curvature than the outer member is disposed in the gap formed between the outer member and the inner member, the holding portion is opened and closed to open the organ In order to elastically deform along the shape of the object while the inner member that is in contact with the object is deformed so as to crush the elastic support member between the outer member and the object such as The object can be pinched in a flexible manner without squeezing the object more than necessary, minimizing the burden on the object, greatly reducing the burden on the patient, and excellent reliability .
(7) When the inner member abuts against the object and elastically deforms, the inner member can be supported by the reaction force generated by the compression of the elastic support member, and the target can be supported with an appropriate clamping force by the elasticity of the elastic support member. Objects can be pinched securely, the burden on patients and doctors can be greatly reduced, and it is excellent in labor saving, versatility, and usability.
(8) Since the elastic support member is disposed between the outer member and the inner member, the clamping force can be adjusted in a stepless manner according to the opening of the clamping part, and excess or deficiency of the clamping force occurs. The object can be clamped safely and reliably with an optimal clamping force, and the fixing reliability, stability and versatility are excellent.
(9) The holding pressure distribution can be adjusted by changing the elastic modulus and the number of steps of the arch-type elastic support member, which is excellent in versatility and design flexibility.
(10) Either one of both ends of the arch-shaped elastic support member is not fixed, and the elastic support member exerts a pressing force on the outer member by making the movable end slidable along the inner surface of the inner member. It is transmitted but moment is not transmitted, and the inner member can be deformed according to the shape and state of the object, and is excellent in shape flexibility.
(11) The arch-shaped elastic support member has a simple configuration formed by bending a plate material, can be easily manufactured, and is excellent in assembling workability.
(12) Since the other end of the elastic support member is a moving end, the pinching pressure can be quickly and finely adjusted by changing the opening of the pinching portion in accordance with changes in the patient's blood pressure and other conditions. Excellent versatility, operational stability and responsiveness.
(13) When either one of the opposing clamping portions is formed in a flat plate shape, it can be easily inserted into a narrow gap between the organs, and the workability is excellent.

As described above, the holding force variable forceps including the forceps control device according to Embodiment 1 has the following operations.
(1) Since it has a forceps member that is controlled to open and close by the forceps control device, the forceps control device opens and closes the forceps member based on various fluctuation data such as blood pressure, pulse, body temperature, dissolved oxygen, etc. By adjusting the degree optimally and minimizing the load on the target object such as an organ held between the forceps members, the burden on the patient can be greatly reduced, and it is excellent in labor saving and versatility.
(2) At least one of the pair of clamping members of the forceps member is an outer member that is convexly curved outward, and one end is fixed at the distal end portion of the outer member and the other end is moved to the rear end side of the outer member as a moving end. Since the plate-shaped inner member is provided, the inner member moves when the inner member comes into contact with the object when the object such as an organ such as the pancreas or intestine or an organ such as the blood vessel is held by the holding portion. When the end moves to the tip (fixed end) side, the inner member can be elastically deformed to the outer member side (outer side) so that the center part of the inner member follows the shape (outer shape) of the target object. It can be pinched for gripping or towing without being pressed, reducing the burden on the doctor, and is excellent in usability and operation workability.

  The present invention can freely adjust the opening / closing angle and interval of a forceps member that clamps a target object such as an organ based on variation data such as biological data detected from a patient during surgery, and has an optimal clamping force Provides a forceps control device and forceps control method with excellent fixing stability, labor saving, and versatility that can securely clamp the object and greatly reduce the burden on patients and doctors, and elastically deform the clamping part Fixing stability and labor saving that can easily adjust the clamping force and can securely hold the target such as an organ with the optimal clamping force and greatly reduce the burden on the patient and doctor Simply by changing the opening / closing angle and interval of the forceps member based on the time-varying data using the forceps member that is elastically deformable and the clamp member is elastically deformable The clamping force can be adjusted, such as organs It is possible to provide a clamp force variable forceps with excellent fixation stability, labor saving, and versatility that can securely hold the figurine with the optimal clamping force and can greatly reduce the burden on patients and doctors. In the surgical operation, the intestines and blood vessels are not excessively pressed, and the object is detached, slipped out or slipped while finely adjusting the clamping pressure according to the shape and state of the object such as an organ. Can be prevented, and the operability of surgery can be greatly improved.

DESCRIPTION OF SYMBOLS 1 Holding force variable forceps 1A Forceps control apparatus 2 Fluctuation data monitoring apparatus 3 Opening / closing drive mechanism 3a Base 3a 'Side plate part 3b Motor 3c Rotating shaft 3e Bolt shaft 3f, 3g Bearing part 3h Sliding part 4 Computer apparatus 5 Central processing unit 6 Input device 7 Display device 8 RAM
9 ROM
DESCRIPTION OF SYMBOLS 10 Reading device 15 Forceps member 16 1st clamping part 16a Clamping surface 16b Rotation center axis | shafts 17 and 17a 2nd clamping part 18 Outer member 18a Front end part 18b Rear end part 18c Arm part 19 Inner member 19a, 21a, 21b Front end 19b, 21b, 22b Rear end 20 Clearance 21 First elastic support member 22 Second elastic support member 23 Elastic support member 25 Link portions 25a, 25b Axis portion 30 Object 51 Basic data reading means 52 Standard opening setting means 53 Threshold setting Means 54 Fluctuation data reading means 55 Fluctuation data display means 56 Fluctuation amount calculation means 57 Fluctuation amount determination means 58 Motor control means 59 Motor torque display means 60 Motor rotation amount integration means 61 Stop instruction input determination means

Claims (9)

A forceps control device that controls opening and closing of a forceps member that clamps the organ or organ of the patient as an object based on fluctuation data of blood pressure, pulse, body temperature or dissolved oxygen of the patient that fluctuates over time,
The fluctuation data monitoring device for acquiring the fluctuation data, the opening / closing drive mechanism for opening / closing the forceps member, and the opening / closing drive mechanism for controlling the opening / closing of the forceps member based on the fluctuation data acquired by the fluctuation data monitoring device. A computer device,
The central processing unit of the computer device includes a standard opening setting unit that sets a standard opening of the forceps member, a threshold setting unit that sets a threshold value for adjusting the opening of the forceps member, Fluctuation data reading means for reading the fluctuation data acquired by the fluctuation data monitoring device; fluctuation amount calculating means for calculating the fluctuation amount of the fluctuation data; and determining whether the fluctuation amount exceeds the threshold value When the standard opening of the forceps member is set by the fluctuation amount determination means and the standard opening setting means, or when the fluctuation amount is determined by the fluctuation amount determination means to exceed the threshold value, A forceps comprising: motor control means for rotating or reversing the motor of the opening / closing drive mechanism forward or reverse based on the standard opening or the fluctuation amount; and motor rotation amount integration means for integrating the rotation amount of the motor. control Location.   The central processing unit includes: variation data display means for displaying changes in the variation data on a display device of the computer device; and motor torque display means for displaying torque during rotation of the motor. The forceps control device according to claim 1. A forceps control method in the forceps control device according to claim 1 or 2,
A standard opening setting step for setting a standard opening of the forceps member; a forceps member closing instruction step for instructing closing of the forceps member based on the standard opening and rotating the motor of the opening / closing drive mechanism; A threshold value setting step for setting a threshold value for adjusting the opening degree of the forceps member; a fluctuation data reading step for reading the fluctuation data acquired by the fluctuation data monitoring device; and a fluctuation amount of the fluctuation data A fluctuation amount calculating step for calculating the fluctuation amount, a fluctuation amount determination step for determining whether or not the fluctuation amount exceeds the threshold value, and the fluctuation amount determination step for determining that the fluctuation amount exceeds the threshold value Sometimes, a motor control step for rotating the motor of the opening / closing drive mechanism forward or backward based on the fluctuation amount, and a motor rotation amount integration step for integrating the rotation amount of the motor. Tsu forceps control method comprising: the flop, the.   4. The method according to claim 3, further comprising: a variation data display step for displaying a change in the variation data on the display device of the computer device; and a motor torque display step for displaying a torque during rotation of the motor. The forceps control method as described. A forceps member, wherein the pair of sandwiching portions are opposed to each other so as to be freely opened and closed, and is controlled to be opened and closed by the forceps control device according to claim 1,
At least one of the clamping portions is longer than the outer member curved outwardly and the inner peripheral wall of the outer member, and extends from the front end portion of the outer member to the rear end portion of the outer member along the inner peripheral wall. A plate-like inner member formed shorter than the distance to the inner member, one end of the inner member being fixed at the tip portion of the outer member, and the other end serving as a moving end, the rear end portion of the outer member. A forceps member provided to the side.   The gap formed between the outer member and the inner member has an arch-shaped elastic support member having one stage and a plurality of stages having a larger curvature than the outer member, and the arch-shaped elastic support member is provided at both ends. 6. The forceps member according to claim 5, wherein one end is fixed to the outer member, and the other end is slidably contacted with an inner surface of the inner member.   The elastic support member formed in any one shape of a waveform, a circle, an ellipse, and a polygon is arranged in a crevice formed between the outside member and the inside member. Item 6. The forceps member according to Item 5. The forceps member according to any one of claims 5 to 7, wherein the other sandwiching portion is formed in a flat plate shape or an opposing surface gently curved outwardly.   The forceps control device according to claim 1 or 2 and the forceps member according to any one of claims 5 to 8 controlled to be opened and closed by the forceps control device. forceps.

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