JP6125112B2 - マニピュレータ - Google Patents
マニピュレータ Download PDFInfo
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- JP6125112B2 JP6125112B2 JP2016544874A JP2016544874A JP6125112B2 JP 6125112 B2 JP6125112 B2 JP 6125112B2 JP 2016544874 A JP2016544874 A JP 2016544874A JP 2016544874 A JP2016544874 A JP 2016544874A JP 6125112 B2 JP6125112 B2 JP 6125112B2
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- handle
- shaft
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- 238000005452 bending Methods 0.000 claims description 25
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 210000003811 finger Anatomy 0.000 description 26
- 210000000707 wrist Anatomy 0.000 description 11
- 210000003813 thumb Anatomy 0.000 description 7
- 210000000245 forearm Anatomy 0.000 description 6
- 210000004932 little finger Anatomy 0.000 description 5
- 230000000881 depressing effect Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J1/00—Manipulators positioned in space by hand
- B25J1/08—Manipulators positioned in space by hand movably mounted in a wall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00331—Steering mechanisms with preformed bends
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00424—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping ergonomic, e.g. fitting in fist
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00438—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping connectable to a finger
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/0091—Handpieces of the surgical instrument or device
- A61B2018/00916—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device
- A61B2018/00922—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device by switching or controlling the treatment energy directly within the hand-piece
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/0091—Handpieces of the surgical instrument or device
- A61B2018/00916—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device
- A61B2018/0094—Types of switches or controllers
Description
また、シャフトの先端側に設けられ回転および屈曲の2自由度で移動させられる先端の処置部の姿勢を、シャフトの基端側に設けられた操作部を把持する手首の姿勢を操作入力として変化させるマニピュレータが知られている(例えば、特許文献2参照。)。
また、特許文献2のマニピュレータは、処置部の姿勢と手首の姿勢とを対応させているが、処置部の2自由度の内の回転動作は、シャフトの長手軸回りの回転動作と干渉する場合があり、操作者の意図通りに処置部を動作させることができず直感性が得られない場合がある。
本発明の一態様は、細長いシャフトと、該シャフトの先端側に配置された先端処置部と、前記シャフトに設けられ、前記シャフトの長手軸に交差する交差方向に平行な揺動軸線を有する屈曲関節と、前記シャフトの前記屈曲関節よりも前記先端処置部側に設けられ、前記先端処置部の中心軸と略一致する回転軸線を有する回転関節と、前記シャフトの基端側に配置され、前記交差方向に平行な揺動軸周りに揺動可能なように前記シャフトに連結されたハンドルと、該ハンドルに設けられ、前記回転関節を動作させる回転操作部と、前記ハンドルの揺動に応じて前記屈曲関節を動作させる駆動部と、を備え、前記ハンドルは、前記シャフトの長手軸方向において前記シャフトの基端よりも基端側に位置する基端面を有し、前記シャフトの前記長手軸方向における前記ハンドルの前記基端面と前記揺動軸との間の距離は、前記シャフトの前記長手軸が操作者の片手の掌を貫通する位置で前記ハンドルの前記基端面に前記片手の掌を近接させた状態で前記ハンドルが前記片手によって把持されたときに、前記ハンドルの前記揺動軸が前記ハンドルを把持した前記片手の中に配置されるような距離に設定されているマニピュレータを提供する。
この場合において、ハンドルを操作する片手の手首の揺動角度が、屈曲関節の動作による先端処置部の姿勢の変化量に対応するので、先端処置部を直感的に操作することができる。一方、回転関節は、先端処置部の中心軸に略一致する回転軸線回りに先端処置部を回転させるので、回転関節の回転によっては先端処置部の姿勢は変動しない。そのため、ハンドルを操作する片手の位置を変化させることなく、指によって直感性を損なうことなく回転操作部を操作して先端処置部を回転させることができる。また、先端処置部の回転動作を手首の回転動作に対応づけないので、シャフトの長手軸回りの回転動作と干渉することがなく、操作者の意図通りに先端処置部を動作させることができる。
また、上記態様では、操作者がハンドルを把持すると、該ハンドルを把持した片手の掌がシャフトの長手軸を貫通する位置に配置される。この状態で、ハンドルを把持した片手の手首を回転させて掌の向きを変化させると、その掌の向きに対応させて先端処置部を揺動させることができる。これにより、より直感性の高い操作を行うことができる。
また、上記態様においては、前記ハンドルを揺動させる揺動軸が、該ハンドルを把持した前記片手の中に配置される。このため、ハンドルを把持した片手の掌の向きを変化させる際に、その片手の前腕の位置をほとんど変化させることなく手首を揺動させることができる。ハンドルを操作しても揺動軸回りの偶力が発生するだけでシャフトを揺動させる力を生じさせずに済むので、先端処置部を揺動させる操作とシャフトを揺動させる操作とを、相互に干渉させずに独立して行うことができる。
また、上記態様において、前記ハンドルは、操作者によって片手で把持され、前記片手の指によって前記ハンドルを前記シャフトの前記長手軸周りに回転可能とするために前記ハンドルの軸線の周方向において略対向する位置に配置された第1指掛け部と第2指掛け部とを有していても良い。このようにすることで、操作者がハンドルを把持すると、把持した片手の指が第1指掛け部と第2指掛け部に引っかかるので、ハンドルを回転させる際に、より確実に力を加えることができる。
このようにすることで、操作者がハンドルを把持すると、把持した片手の指が凹凸に引っかかるので、ハンドルを長手軸回りに回転させる際に、より確実に力を加えることができる。
このようにすることで、操作者がハンドルを把持すると、把持した片手の指に対応する位置にスイッチが配置されるので、ハンドルを把持したままの状態で、容易にスイッチを操作して先端処置部をその中心軸回りに回転させることができる。
本実施形態に係るマニピュレータ1は、図1に示されるように、例えば、腹腔鏡手術に用いられるマニピュレータであって、皮膚Aを貫通して配置されるトロッカ2を貫通して挿入される細長いシャフト3と、該シャフト3の先端に配置された先端関節部4と、該先端関節部4の先端側に配置される先端処置部5と、シャフト3の基端側に配置され操作者Oによって操作される基端操作部6と、先端関節部4を駆動する駆動部7と、基端操作部6の操作に応じて駆動部7を制御する制御部8とを備えている。
また、ハンドル9には、図3に示されるように、操作者Oが片手で把持したときに、把持した片手の親指および小指が配置される位置に、親指および小指を周方向に係合させる溝(凹凸)16が設けられている。
本実施形態に係るマニピュレータ1を用いて体内の患部Bを処置するには、図1に示されるように、皮膚Aを貫通して配置されているトロッカ2の貫通孔内にマニピュレータ1の先端側からシャフト3を挿入し、先端処置部5および先端関節部4を体内に配置する。
すなわち、シャフト3の移動によってシャフト3の先端に配置されている先端関節部4およびその先端に固定されている先端処置部5の位置を調節することができる。
また、ハンドル9を揺動させる揺動軸12の軸線がハンドル9を把持する右手の中に配置されるので、ハンドル9の操作は、前腕の姿勢をほぼ固定したままで、右手の手首を前腕の長手軸回りに回転させるだけで済む。これにより、ハンドル9を揺動させても揺動軸12の軸線を中心とした偶力が発生するだけで、トロッカ2を支点としてシャフト3を揺動させる力を発生させずに済む。一方、トロッカ2を支点としてシャフト3を揺動させる場合には、ハンドル9を把持した右手の前腕に対して手首を固定して前腕ごと移動させることにより、シャフト3に対してモーメントを加え、シャフト3を揺動させることができる。
また、ハンドル9に、親指と小指を係合させる溝16を設けたが、これに代えて、凸部を設けてもよい。またはこれに加えて、図8に示されるように、ハンドル9を把持した際の親指および小指が嵌合するリング部材17を設けてもよい。これにより、さらに手とハンドル9との滑りを無くすことができる。
3 シャフト
4 先端関節部
5 先端処置部
6 基端操作部
9 ハンドル(第1の操作部)
10 回転関節
11 屈曲関節
14a,14b,14c 押しボタン(第2の操作部)
15a,15b,15c スイッチ(こちらを第2の操作部と称する場合もある)
16 溝(凹凸)
O 操作者
Claims (7)
- 細長いシャフトと、
該シャフトの先端側に配置された先端処置部と、
前記シャフトに設けられ、前記シャフトの長手軸に交差する交差方向に平行な揺動軸線を有する屈曲関節と、
前記シャフトの前記屈曲関節よりも前記先端処置部側に設けられ、前記先端処置部の中心軸と略一致する回転軸線を有する回転関節と、
前記シャフトの基端側に配置され、前記交差方向に平行な揺動軸周りに揺動可能なように前記シャフトに連結されたハンドルと、
該ハンドルに設けられ、前記回転関節を動作させる回転操作部と、
前記ハンドルの揺動に応じて前記屈曲関節を動作させる駆動部と、
を備え、
前記ハンドルは、前記シャフトの長手軸方向において前記シャフトの基端よりも基端側に位置する基端面を有し、
前記シャフトの前記長手軸方向における前記ハンドルの前記基端面と前記揺動軸との間の距離は、前記シャフトの前記長手軸が操作者の片手の掌を貫通する位置で前記ハンドルの前記基端面に前記片手の掌を近接させた状態で前記ハンドルが前記片手によって把持されたときに、前記ハンドルの前記揺動軸が前記ハンドルを把持した前記片手の中に配置されるような距離に設定されていることを特徴とする
マニピュレータ。 - 前記駆動部は、前記屈曲関節の屈曲方向及び屈曲角度が前記ハンドルの揺動方向及び揺動角度と略同等となるように前記屈曲関節を動作させる請求項1に記載のマニピュレータ。
- 前記ハンドルは、前記片手の指によって前記ハンドルを前記シャフトの前記長手軸周りに回転可能とするために前記ハンドルの軸線の周方向において略対向する位置に配置された第1指掛け部と第2指掛け部とを有する請求項1に記載のマニピュレータ。
- 前記回転操作部は、前記片手の指で操作される請求項1に記載のマニピュレータ。
- 前記ハンドルは、前記シャフトに対して前記シャフトの前記長手軸周りに回転不能なように連結される請求項4に記載のマニピュレータ。
- 前記ハンドルの外周面に、該ハンドルを把持する前記片手の指を引っかける指掛け部を有する請求項5に記載のマニピュレータ。
- 前記第2の操作部が、前記片手によって前記ハンドルを把持した際、前記片手の指により操作可能な位置に配置されたスイッチである請求項4に記載のマニピュレータ。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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JP2015021241 | 2015-02-05 | ||
JP2015021241 | 2015-02-05 | ||
PCT/JP2016/051360 WO2016125574A1 (ja) | 2015-02-05 | 2016-01-19 | マニピュレータ |
Publications (2)
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JPWO2016125574A1 JPWO2016125574A1 (ja) | 2017-04-27 |
JP6125112B2 true JP6125112B2 (ja) | 2017-05-10 |
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US (1) | US10561471B2 (ja) |
EP (1) | EP3254640A4 (ja) |
JP (1) | JP6125112B2 (ja) |
CN (1) | CN107106251B (ja) |
WO (1) | WO2016125574A1 (ja) |
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JP6238844B2 (ja) * | 2014-06-17 | 2017-11-29 | オリンパス株式会社 | 手術用マニピュレータ操作装置および手術用マニピュレータシステム |
US11504192B2 (en) | 2014-10-30 | 2022-11-22 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
ES2611601B2 (es) * | 2017-01-05 | 2017-10-16 | Universitat Politècnica De València | Herramienta quirúrgica |
US10182812B1 (en) * | 2017-09-11 | 2019-01-22 | Aqeel J. A. GH. H. Ashraf | Needle holder |
US20190125320A1 (en) | 2017-10-30 | 2019-05-02 | Ethicon Llc | Control system arrangements for a modular surgical instrument |
JP2021500996A (ja) * | 2017-10-30 | 2021-01-14 | エシコン エルエルシーEthicon LLC | シフト機構を備える外科用器具 |
US10932804B2 (en) | 2017-10-30 | 2021-03-02 | Ethicon Llc | Surgical instrument with sensor and/or control systems |
US11229436B2 (en) | 2017-10-30 | 2022-01-25 | Cilag Gmbh International | Surgical system comprising a surgical tool and a surgical hub |
US11406390B2 (en) | 2017-10-30 | 2022-08-09 | Cilag Gmbh International | Clip applier comprising interchangeable clip reloads |
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EP3254640A4 (en) | 2018-08-08 |
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