JP6535496B2 - Medical treatment tool holding tool - Google Patents

Description

  The present invention relates to a medical treatment tool holding tool capable of holding a medical treatment tool such as a forceps or an endoscope in a desired posture.

  Conventionally, in endoscopic surgery, there is known an endoscope grasper which holds an endoscope in a desired posture (see, for example, Patent Document 1).

  The conventional endoscope grasping tool is provided at a distal end of an articulated body in which a large number of connectors are engaged with each other and connected, and a wire is inserted through the connectors. The articulated body applies tension to the wire and brings the connectors into close contact with each other to suppress movement of the articulated body, whereby the endoscope held by the endoscope holding tool is desired. It can be an attitude.

  The articulated body may change the posture of the endoscope by releasing the tension of the wire and relaxing the tightness of the connectors to release the suppression of the movement of the articulated body. it can.

  In this conventional endoscope holder, when controlling the movement of the articulated body, the wire adjustment screw provided at the proximal end of the articulated body is tightened to suppress the movement of the articulated body, and the wire adjustment is performed. Loosen the screw to release the restriction on the movement of the articulated body.

  Further, for holding and releasing the endoscope, fix the endoscope by tightening the fixing screw of the fixing hook provided at the distal end of the articulated body, loosen the fixing hook, and hold the endoscope Do the cancellation.

Utility model registration No. 3081670 gazette

  Thus, the conventional endoscope grasping tool needs to independently perform the operation of the articulated body and the grasping operation of the endoscope.

  Therefore, when trying to change the position while holding the endoscope, it is necessary to reach for the proximal end of the articulated body and loosen the wire adjustment screw in order to release the restriction on the movement of the articulated body. There is.

  Furthermore, if the wire adjustment screw is loosened too much, the posture of the articulated body is broken, so it is necessary for the operator to hold the endoscope with the other hand or to have the assistant hold the endoscope. .

  In addition, when replacing with an endoscope and replacing with another treatment tool, it is necessary to operate the fixing screw at the tip of the articulated body, but changing the treatment tool changes the direction and position in many cases. It is necessary to In this case, it is further necessary to manipulate the adjusting screw at the proximal end of the articulated body.

  As described above, the conventional endoscope holder is inconvenient because the operation is complicated at the time of actual surgery and an assistant other than the operator may be required.

  An object of the present invention is to provide a medical treatment tool grasping tool which can solve such a disadvantage and can be easily operated by the operator and can easily set the attitude of the treatment tool to a desired posture.

  In order to achieve such an object, the present invention provides an articulated body in which a large number of connectors are engaged with each other, and a grip provided at the tip of the articulated body for detachably holding a medical treatment tool. Part, an operation part for attaching / detaching operation of the medical treatment tool by the grip part, a wire which is inserted into each of the connectors and one end is fixed to the tip of the articulated body, and the other end of the wire A wire operating means detachably connected to the first and second wires by means of the wire operating means so that the connectors are brought into close contact with each other to suppress movement of the articulated body; A medical treatment tool grasping tool capable of releasing tightness of each connector by releasing the first tension to release suppression of movement of the articulated body, wherein the application of the first tension is performed. And a switch for controlling the Switch is characterized in that for controlling the release and application of the first tension in conjunction with the detachment operation of the medical treatment instrument by the operation unit.

  The medical treatment tool grasping tool of the present invention can detachably grasp the medical treatment tool by the grasping portion provided at the tip of the articulated body in which a large number of connectors are engaged with each other and coupled. .

  On the other hand, in the articulated body, a wire fixed to the tip end is inserted through each connector, and by applying a first tension to the wire by the wire operating means, the connectors are brought into intimate contact to each other. Movement can be suppressed. Further, by releasing the first tension by the wire operating means, the tightness of the connectors can be relaxed and the suppression of the movement of the articulated body can be released.

  Here, in the medical treatment tool holding tool according to the present invention, the multijoint body can set the holding unit to a desired posture, and hold the medical treatment tool on the holding unit.

  At this time, according to the medical treatment tool holding tool of the present invention, the switch controls the application and release of the first tension in conjunction with the attaching / detaching operation of the medical treatment tool by the operation unit. Can. Therefore, it is possible to simultaneously control the gripping of the medical treatment tool and the operation of the articulated body.

  It is preferable that the medical treatment tool gripping tool according to the present invention release the first tension after a predetermined grace period after the switch is pressed. In the medical treatment tool holding tool according to the present invention, by doing so, the first tension is not released even when the switch is unintentionally brought into contact with the switch and pushed. It is possible to prevent the change in posture of the articulated body.

  Further, the medical treatment tool gripping tool according to the present invention is a tension holding means for holding the tension of the wire at a second tension weaker than the first tension when the first tension is released by the switch. Preferably,

  The medical treatment tool gripping tool according to the present invention includes the tension holding means, thereby preventing a sudden change in the posture of the articulated body when the first tension is released by the switch. However, it can be easily changed to any posture.

  Further, in the medical treatment tool holding tool according to the present invention, the articulated body includes a proximal end that is attachable to and detachable from the wire operating means, and the proximal end is attached to the wire operating means. It is preferable to provide connection means for electrically connecting the switch and the wire operation means.

  In the medical treatment tool grasping tool of the present invention, the switch and the wire operating means are electrically connected by the connecting means at the same time as the proximal end of the articulated body is attached to the wire operating means. Ru. Therefore, control of the wire operating means by the switch can be automatically performed only by attaching the proximal end portion of the articulated body to the wire operating means.

  Further, at this time, in the medical treatment tool gripping tool of the present invention, the proximal end portion is inserted into the hole portion provided in the wire operating means, and is rotated in the hole portion in a direction orthogonal to the insertion direction. A first engaging member engaged with the hole and a pair of electrode terminals provided on the wire operating means when the first engaging member is engaged with the hole 1 The pair of electrode plates is connected by a resistor having a predetermined resistance, and it is detected that the pair of electrode plates are in contact with the pair of electrode terminals. It is preferred to activate the tension holding means.

  According to the medical treatment tool holding tool of the present invention, the first engagement member of the proximal end is inserted into the hole provided in the wire operating means, and the direction orthogonal to the insertion direction in the hole, For example, when inserted vertically into the hole, it is rotated in the horizontal direction. By doing so, the first engaging member is engaged with the hole, and the articulated body is easily and reliably attached to the wire operating means.

  Further, at this time, in the medical treatment tool holding tool according to the present invention, the base end portion is engaged with a second engaging member engaged with a locking member provided in the wire operating means, and the second engagement It comprises a pair of electrode plates that contact a pair of electrode terminals provided on the wire operation means when a member is engaged with the locking member, the pair of electrode plates having a predetermined resistance Preferably, the tension holding means is operated by detecting the contact of the pair of electrode plates with the pair of electrode terminals connected by a body.

  According to the medical treatment tool gripping tool of the present invention, the articulated body is engaged with the locking member provided on the wire operating means by the second engaging member on the proximal end portion. It is attached to the wire operating means.

  According to the medical treatment tool grasping tool of the present invention, when the articulated body is attached to the wire operation means by the first engagement member or the second engagement member, the proximal end portion is provided. The switch and the wire operating means are electrically connected by the pair of electrode plates being in contact with the pair of electrode terminals provided on the wire operating means.

  Further, since the pair of electrode plates is connected by a resistor having a predetermined resistance, when the pair of electrode plates is in contact with the pair of electrode terminals, a minute current flows between the both electrode plates. . Therefore, the medical treatment tool gripping tool of the present invention can easily control the posture of the articulated body attached to the wire operating means by detecting the minute current and operating the tension holding means. Can.

  In the medical treatment tool holding tool according to the present invention, preferably, the holding unit includes a plurality of grooves for fixing the medical treatment tool at a predetermined angle. According to the said structure, by fitting a treatment tool to either of several groove parts, the angle can be changed easily and the angle can be maintained easily further.

  In the medical treatment tool holding tool of the present invention, the holding unit preferably includes a plurality of protrusions for fixing the medical treatment tool at a predetermined angle. According to the said structure, the angle can be easily changed by which position of a several projection part makes a treatment tool grip.

  Further, in the medical treatment tool holding tool according to the present invention, the holding portion preferably includes a plurality of rollers for holding a columnar medical treatment tool rotatably about its axis. In the medical treatment tool holding tool according to the present invention, since the holding unit includes the plurality of rollers, the posture of the medical treatment tool is not changed in a state where the columnar medical treatment tool is held by the holding unit. It can be pivoted about its axis. This is particularly suitable, for example, when rotating the endoscope about an axis to change the position of the camera, for example when using a cylindrical endoscope.

BRIEF DESCRIPTION OF THE DRAWINGS The schematic perspective view which shows the medical treatment tool holding tool of this invention. A is a front view of the first embodiment of the articulated body shown in FIG. 1, B is a longitudinal sectional view of A, C is a sectional view of a connector constituting the articulated body shown in A, and D is a multiple of A shown in A FIG. 6 is a cross-sectional view of a crown attachment member that is crowned to the tip of the joint body. A is a front view of the second embodiment of the articulated body shown in FIG. 1, B is a longitudinal sectional view of A, C is a sectional view of a connector constituting the articulated body shown in A, and D is a multiple of A shown in A Sectional drawing of the nested member arrange | positioned by the connector of an articulated body. A is a front view of the third embodiment of the articulated body shown in FIG. 1, B is a longitudinal sectional view of A, C is a sectional view of a first connector constituting the articulated body shown in A, and D is A Sectional drawing of the 2nd connector which comprises the articulated body shown to. A is a longitudinal sectional view of the first embodiment of the gripping portion shown in FIG. 1, B is a plan view of A, C is a plan view showing a first usage pattern of the gripping portion shown in A, and D is a gripping shown in A The top view which shows the 2nd usage form of the part. A is a perspective view of 2nd Embodiment of the holding part shown in FIG. 1, B is a side view of A. FIG. A is a perspective view of the comparative example of the holding part shown in FIG. 1, B is typical sectional drawing which shows the state which hold | gripped the medical treatment tool to the holding part shown to A. FIG. FIG. 2 is a schematic cross-sectional view showing the configuration of the first embodiment of the proximal end of the articulated body and the wire operating means. FIG. 8 is a schematic cross-sectional view showing a state in which the proximal end of the articulated body shown in FIG. 7 is attached to the wire operating means. FIG. 7 is a schematic cross-sectional view showing the configuration of a second embodiment of the proximal end portion of the articulated body and the wire operating means. FIG. 10 is a schematic cross-sectional view showing a state in which the proximal end of the articulated body shown in FIG. 9 is attached to the wire operating means. The front view which shows the use condition of the medical treatment tool holding tool shown in FIG.

  Next, embodiments of the present invention will be described in more detail with reference to the attached drawings.

  As shown in FIG. 1, the medical treatment tool grasping tool 1 of the present embodiment includes a base 100 detachably fixed to a base such as an operating table and a stand 200 having a base end installed on the base 100. An articulated body 300 installed at the distal end of the stand 200 and a grip 400 provided at the distal end of the articulated body 300.

  In the stand 200, a plurality of link bodies are rotatably connected to each other by, for example, a ball joint.

  In the articulated body 300, a large number of connectors 301 are engaged with each other to be connected, the inside of the connectors 301 is hollow, and a wire (not shown) is inserted. One end of the wire is fixed to the distal end of the articulated body 300, and the other end of the wire is detachably connected to the wire operating means 500.

  In the present embodiment, each member of the medical treatment tool grasping tool 1 is formed using a synthetic resin except for a part of the wire or the shaft or the like, and it is a so-called disposable treatment for single use. It is a tool.

  In the articulated body 300, the wire operation means 500 applies tension to the wire to bring the connectors 301 into close contact with each other, thereby suppressing the movement and releasing the tension to relax the contacts of the connectors 301. The control of the movement is cancelled.

  As shown in FIGS. 2A and 2B, for example, as the first embodiment, the articulated body 300 is formed by connecting and coupling a large number of connectors 301 a to each other, and a crown is formed at the tip end. While the attachment member 302 is crowned, the proximal end is provided with an engagement member 303 engaged with the wire operating means 500 as described later.

  As shown in FIG. 2C, the connector 301a includes a spherical portion 304 formed at the distal end and a hollow tapered portion 305 formed at the proximal end. The connector 301a is tapered from the distal end surface of the spherical portion 304. A through hole 306 communicating with the hollow portion 305 is provided. Further, on the inner surface of the tapered portion 305, a plurality of slits 307 are provided along the length direction.

  The connector 301 a is connected by the spherical convex surface of the spherical portion 304 being engaged with and engaged with the spherical concave surface (hollow portion) of the tapered portion 305. A wire (not shown) is inserted into the through hole 306.

  In addition, a crown attachment member 302 is crowned on the spherical convex surface of the spherical portion 304 in the connector 301 a at the forefront of the articulated body 300. As shown in FIG. 2D, the crown attachment member 302 is substantially frusto-conical in shape, and includes a spherical concave surface 308 in which the spherical convex surface of the spherical portion 304 is fitted.

  According to the connector 301a, when tension is applied to the wire inserted into the through hole 306, the crown attachment member 302 and the connector 301a at the foremost end are brought into close contact, and further, the plurality of connectors 301a after the foremost are respectively Close contact with the adjacent connector 301a. In adjacent connectors 301a, the spherical portion 304 of one connector 301a is in close contact with the tapered portion 305 of the other connector 301a, but at this time the slit 307 provided on the inner surface of the tapered portion 305 is contracted. Thus, the spherical convex surface of the spherical portion 304 can be reliably held.

  Further, as shown in FIGS. 3A and 3B, the articulated body 300 may be formed by engaging and connecting a large number of connectors 301b to each other as the second embodiment.

  As shown in FIG. 3C, the connector 301b has a spherical collar portion 309, 310 having spherical concave surfaces at both ends, and has a dharma shape in which the spherical collar portions 309, 310 are connected by the small diameter connecting portion 311. There is. The connection portion 311 includes a through hole 312 communicating with the spherical concave portions of the spherical collar portions 309 and 310, and the wire is inserted through the through hole 312.

  The spherical collar portion 309 is shaped to cover the spherical collar portion 310 of the adjacent connector 301b, and a plurality of, for example, six slits 313 are formed in the spherical collar portion 310 along the length direction. In addition, a nesting member 314 is disposed inside the spherical collar portion 310. Nesting member 314 has a hollow generally frusto-conical shape, as shown in FIG. 3D.

  According to the connector 301b, when tension is applied to the wire inserted into the through hole 312, the plurality of connectors 301b come into close contact with the adjacent connectors 301b, and the spherical collar portion 309 of one of the connectors 301b is It adheres so that the spherical collar part 310 of the other connector 301b may be covered. At this time, since the nesting member 314 is disposed inside the spherical collar portion 310, the spherical collar portion 310 is pressed by the nesting member 314 and the slit 313 is pushed outward and the spherical shape of the connector 301b The spherical concave surface of the collar portion 309 is in pressure contact. Therefore, the spherical collar portion 309 of one connector 301b can reliably hold the spherical collar portion 310 of the other connector 301b.

  In the third embodiment, as shown in FIGS. 4A and 4B, the articulated body 300 is formed by engaging and coupling a large number of connectors 301c with each other through the bead members 315. It may be

  As shown in FIG. 4C, the connector 301c is a cylindrical body having spherical concaves 316 at both ends, and is provided with a through hole 317 communicating with the spherical concave 316, and the wire is inserted through the through hole 317. Further, the spherical concave surface 316 is provided with an elastic layer 318 made of rubber or the like on the surface. On the other hand, as shown in FIG. 4D, the bead member 315 has a spherical shape fitted to the spherical concave surface 316, includes a through hole 319 penetrating in the diameter direction, and the wire is inserted through the through hole 319.

  According to the connector 301c, when tension is applied to the wires inserted through the through holes 317 and 319 when engaged through the bead member 315, the connectors 301c in which the plurality of connectors 301c are adjacent to each other. In close contact with the bead member 315 interposed therebetween. At this time, since the elastic layer 318 is formed on the surface of the spherical concave surface 316 of the connector 301c, the articulated body 300 can be bent in the direction to which the pressure is applied by the elasticity of the elastic layer 318. When the pressure is removed, the original state can be restored.

  As the first embodiment, as shown in FIGS. 5A and 5B, the gripping portion 400 has a gripping portion main body 401 connected to the tip of the articulated body 300, and a shaft 402 at the central portion of the gripping portion main body 401. It consists of the pinching part 403 pivotally supported via. The tip of the pinching portion 403 is urged in the direction of the grip portion main body 401 by a spring (not shown) interposed on the shaft 402.

  The grip unit 400 has the operation unit 404 on the articulated member 300 side of the clamp unit 403 with respect to the shaft 402, and holds the articulated unit 300 side of the grip unit main body 401 and the operation unit 404 with fingers to open and close the tip. Thus, the medical treatment tool 405 can be held detachably. Examples of the medical treatment tool 405 include forceps, an endoscope, and the like.

  A slit 406 is formed at the tip of the grip portion body 401 along the length direction, and concave grooves 407 and 408 are formed at the end of the articulated body 300 at a predetermined angle with respect to the slit 406. The Y-shape is formed by the concave grooves 407 and 408 and the slit 406. On the other hand, on the surface of the pinching portion 403 facing the grip portion main body 401, concave grooves 409, 410 are formed which are connected to the concave grooves 407, 408 at a predetermined angle with respect to the slit 406. Further, a concave groove (not shown) opposed to the concave grooves 409 and 410 is also formed on the surface of the grip portion main body 401 facing the pinching portion 403.

  When holding the medical treatment tool 405 by the holding unit 400 shown in FIGS. 5A and 5B, the medical treatment tool 405 is first set in the slit 406 as shown in FIG. 5C. Then, from this state, the proximal end side of the medical treatment tool 405 is fitted into either the concave groove 407 or the concave groove 408 as desired. In this way, as shown in FIG. 5D, the distal end side of the medical treatment tool 405 is fitted to any one of the concave grooves 409 and 410 connected to the concave grooves 407 and 408 corresponding to the movement on the proximal side. Be done.

  Therefore, the medical treatment instrument 405 can be reliably held at a predetermined angle with respect to the slit 406 by the concave grooves 407, 409 or the concave grooves 408, 410.

  Further, as shown in FIGS. 6A and 6B as the second embodiment of the gripping portion 400, a plurality of protrusions 411 are formed on the surface of the pinching portion 403 facing the gripping portion main body 401. In the present embodiment, six hemispherical projections are provided on the plane of the sandwiching portion 403.

  On the other hand, as shown in FIGS. 6A and 6B, no protrusion is provided on the surface of the grip portion main body 401 facing the pinching portion 403, and a coating film made of silicone resin is provided to slide the medical treatment instrument 405. It is supposed to stop. Thus, the medical treatment tool 405 held by the holding unit 400 is reliably held by the projection of the holding unit 403 and the covering film of the holding unit main body 401.

  Further, as shown in FIG. 6B, the grip unit 400 is provided with a control switch 412 for controlling the application or release of tension by the wire operating means 500 on the outer surface of the operation unit 404 of the pinching unit 403. The lead wire 413 inserted into the joint body 300 is connected. In the present embodiment, the control switch 412 is “open” at the release time, and is “close” when the control switch 412 is pressed.

Further, as a comparative example different from the present invention, as shown in FIG. 7A, the grip portion 400 is provided openably and closably at the tip of the operation portion 414 connected to the tip of the articulated body 300 and the tip of the operation portion 414. And semi-cylindrical clip members 415 and 416. The operation unit 414 further includes an open / close switch 417 of the clip members 415 and 416 and a control switch 418 for controlling application or release of tension by the wire operation means 500. The control switch 418 is connected to the articulated body 300 by a wire (not shown) and has the same function as the switch 412 shown in FIG. 6B.

  Also, the clip members 415, 416 have a plurality of longitudinally extending rollers 419 on their inner surfaces. The roller 419 can be made of, for example, a silicone resin. The roller 419 is rotatably held by the clip members 415 and 416 about its own axis.

According to the grip unit 400 which is a comparative example of the present invention shown in FIG. 7A, by operating the open / close switch 417 to open and close the clip members 415 and 416, as shown in FIG. The medical treatment tool 405 having a cylindrical side surface can be detachably gripped by the clip members 415 and 416. At this time, since the grip portion 400 includes the plurality of rollers 419 on the inner surface of the clip members 415 and 416, the medical treatment tool 405 can be rotated while being held by the clip members 415 and 416.

In addition, in the holding part 400 which is a comparative example of this invention, it is arrange | positioned so that the operator can push the on-off switch 417 and the control switch 418 simultaneously.

Further, the grip portion 400, as its third embodiment, not separately provided the opening and closing switch 417, and opening and closing of the clip member 415, 416 by the control switch 418, so as to enable the adjustment of the wire tension at the same time It is also good. In this case, for example, the control switch 418 is operated in two steps by changing the depth, and when it is shallowly pushed to the first step, the first tension by the wire operating means 500 is released and the second step is performed deeply. When pressed, the clip members 415 and 416 can be opened and closed.

  As shown in FIG. 8 as the first embodiment, the proximal end 320 of the articulated body 300 has a connector 301 connected to one end, and a rod 321 on the opposite side to the connector 301 and a diameter smaller than the rod 321 A square rod shaped engagement member 323 is connected via the neck 322. The engagement member 323 has the same width as that of the neck 322 on one side, but in the side rotated 90 ° in a direction perpendicular to the longitudinal direction of the rod 321 and the neck 322, as shown in FIG. As shown by a phantom line, the width is larger than that of the neck 322 so as to exhibit an inverted T shape.

  The end of a wire (not shown) inserted inside the connector 301 is locked to the proximal end 320, and a pair of electrode plates 324 is provided on the bottom with the rod 321 interposed therebetween. ing. The electrode plate 324 is connected to the control switch 412 or the control switch 418 by a wire (not shown), and is connected to each other by a resistor (not shown) having a predetermined resistance.

  The wire operating means 500 corresponding to the first embodiment of the proximal end 320 of the articulated body 300 has a first connection hole 502 through which the rod 321 can be inserted into the housing 501 and a lower side of the connection hole 502. A second connection hole 503 having a rectangular cross-sectional view into which the engagement member 323 can be inserted is provided, and the connection hole 503 communicates with the large diameter cavity 504 at the bottom of which the engagement member 323 can rotate. . In addition, in FIG. 8, the 2nd connection hole 503 has shown the side surface which the engagement member 323 can insert in the state which the side surface of the engagement member 323 equips with the same width as the neck 322. As shown in FIG. Further, on the top surface of the housing 501, a pair of electrode terminals 505 is provided at a position where it can be in contact with the electrode plate 324.

  According to the first embodiment of the proximal end 320 of the articulated body 300, the engagement member 323 is the first connection hole 502 and the corresponding wire operating means 500, as indicated by the arrows in FIG. It is inserted to the cavity 504 through the second connection hole 503. Then, in this state, when the engaging member 323 is rotated by 90 ° in the direction orthogonal to the length direction of the rod 321 and the neck 322, as shown in FIG. 9, the engaging member 323 is in the second connection hole. The bottom of the portion 503 is engaged.

  Further, the electrode plate 324 is connected to the electrode terminal 505, and the control switch 412 or the control switch 418 and the wire operating means 500 are electrically connected. At this time, since a minute current flows through the resistor connecting the pair of electrode plates 324, the control means (not shown) drives the wire locked to the proximal end 320 by detecting the minute current, The articulated body 300 is tensioned.

  Further, as shown in FIG. 10 as the second embodiment, the proximal end 320 of the articulated body 300 has a hollow cylindrical shape, and the distal end via the rod 321 and the neck 322 smaller in diameter than the rod 321. A frusto-conical engagement member 325 of a smaller diameter is connected.

  The rod 321 and the neck 322 have hollow portions 326 and 327 in communication with each other, the hollow portion 326 in communication with the hollow portion 328 of the proximal end 320, and the hollow portion 328 is a through hole inside the connector 301 (see FIG. (Not shown).

  The hollow portion 327 communicates with the hole 329 opened at the tip of the engaging member 325, and the wire 330 inserted into the hollow portion inside the connector 301 is a hole through the hollow portions 328, 326, and 327. It extends into the portion 329. The hole 329 has a diameter larger than that of the hollow portion 327, and the locking portion 331 provided at the end of the wire 330 is locked to the step formed between the hole 329 and the hollow portion 327.

  A pair of electrode plates 332 is provided on the end surface of the proximal end 320 on the rod 321 side with the rod 321 interposed therebetween, and the electrode plate 332 is a conductive wire 333 extending from the control switches 412 and 418 inside the proximal end 320. It is connected to the. Further, the pair of electrode plates 332 are connected to each other by a resistor 334 having a predetermined resistance in the base end portion 320.

  The wire operating means 500 corresponding to the second embodiment of the proximal end 320 of the articulated body 300 comprises an air cylinder 507 provided in the housing 506 and a base provided at the tip of the rod 508 of the air cylinder 507. A pair of locking members 510 pivotally supported on a base 509 is provided. The operation of the air cylinder 507 is controlled by a control device (not shown).

  The housing 506 is provided with a through hole 511 into which the engagement member 325 of the articulated body 300 is inserted above the base 509, and the locking member 510 is provided below the through hole 511. The pair of locking members 510 are provided such that claws 512 for locking the engagement member 325 at the tip end are opposed to each other, and the claws 512 are opposed by a spring (not shown) interposed on the shaft 513 In the direction of

  In addition, the locking member 510 moves the levers 514 extending to the side opposite to the claws 512 with respect to the shaft 513 in a direction approaching each other against the biasing force of the spring. The locking of the locking member 510 can be released.

  In FIGS. 10 and 11, the plate member on the front side of the housing 506 is removed, and the lever 514 is outside the housing 506, but the other members are accommodated inside the housing 506. There is.

  Further, a pair of electrode terminals 515 are embedded in the housing 506, and the tip of the electrode terminal 515 is exposed at a position where it can contact the electrode plate 332 on both sides of the through hole 511. The electrode terminal 515 is connected to the control device by a lead 516.

  According to the second embodiment of the proximal end 320 of the articulated body 300, as shown in FIG. 11, the engagement member 325 of the articulated body 300 is inserted into the through hole of the housing 506 for the corresponding wire operating means 500. The proximal end 320 of the articulated body 300 is attached to the wire operating means 500 by inserting it into the joint 511.

  At this time, when the engaging member 325 is inserted into the through hole 511, the claw portion 512 is temporarily pushed against the biasing force of the spring by the frusto-conical shaped engaging member 325, but the engaging member 325 is When inserted below the portion 512, the claw portion 512 is engaged with the neck 322 by the biasing force of the spring.

  At the same time, the end face of the proximal end 320 on the rod 321 side is in contact with the end face of the housing 506 provided with the through hole 511, and the pair of electrode plates 332 is in contact with the pair of electrode terminals 515. And the wire operating means 500 are electrically connected. At this time, since a minute current flows through the resistor 334 connecting the pair of electrode plates 332, the control means detects the minute current and operates the air cylinder 507 to slightly retract the rod 508. Thus, the wire 330 is driven to apply tension to the articulated body 300.

  Next, the operation of the medical treatment tool gripping tool 1 of the present embodiment will be described.

  In use of the medical treatment tool holding tool 1, first, the proximal end 320 of the articulated body 300 is attached to the wire operating means 500.

  At this time, for example, in the configuration shown in FIGS. 10 and 11, when a pair of electrode plates 332 is in contact with a pair of electrode terminals 515 and a minute current flows in a resistor 334 connecting the pair of electrode plates 332 The control means detects the minute current to operate the air cylinder 507 and slightly retract the rod 508.

  In this way, the engagement member 325 locked to the claws 512 is slightly moved toward the air cylinder 507, and the wire 330 has a smaller tension than the movement of the articulated body 300 is completely suppressed (the 2) tension is applied. As a result, the movement of the articulated body 300, which was free before attaching the proximal end 320 to the wire operating means 500, is restricted.

  In addition, when the control switches 412 and 418 in the grip unit 400 are not pressed, the switches are “closed”. When the control means detects this, the air cylinder 507 is controlled to move the engaging member 325 locked to the claw portion 512 downward, and the wire 330 completely suppresses the movement of the articulated body 300. Apply (first tension). Thereby, the movement of the articulated body 300 is suppressed and its posture is fixed.

  From this state, when the operator wants to move the articulated body 300 to a desired position, the control switches 412 and 418 provided on the operation unit 404 are pressed. Then, the control switches 412 and 418 are opened, and the control means controls the wire 330 to be in the second tension after a predetermined grace period, for example, 0.5 to 2 seconds.

  In this state, the movement of the articulated body 300 is somewhat restricted by the second tension on the wire 330, but the operator can change the articulated body 300 to a desired position and posture. At the same time, the operator can also rotate the grip 400 in the axial direction of the articulated body 300.

  At this time, the operator's finger is in a state of pressing the control switches 412 and 418 of the grip unit 400, and if the operation unit 404 is further pinched with that finger, the gap between the grip unit main body 401 and the pinching unit 403 is expanded. And a medical treatment tool 405 such as an endoscope can be sandwiched.

  Next, after the operator sets the medical treatment tool 405 to a desired position, when the control switch 412, 418 is released, the control switch 412, 418 is closed. Thereby, the control means operates the air cylinder 507 to move the engaging member 325 locked to the claws 512 downward, and the wire 330 completely suppresses the movement of the articulated body 300 Apply the first tension).

  In the present embodiment, the concave portion 407, 408, 409, 410 is provided in the grip portion 400, or six protrusions 411 are provided in the pinch portion 403, so that the operator can adjust the angle of the medical treatment instrument 405. Can be changed freely.

  Further, after the articulated body 300 is fixed to the originally desired posture, the operator presses the control switches 412 and 418 when it is necessary to change the posture. Then, after a predetermined grace period, the air cylinder 507 is operated by the control device, and the rod 508 is advanced to release the first tension by the wire 330 to become the second tension, thereby moving the articulated body 300. The attitude can be changed.

  Thus, in the present embodiment, the second tension is applied even when the first tension is released, and the movement of the articulated body 300 is not completely free. There is. Therefore, the articulated body 300 is not loosened against the intention of the operator.

  In addition, since the air cylinder 507 is not actuated by simply pressing the control switches 412 and 418, and operates after the predetermined grace period, the operator may accidentally touch the control switches 412 and 418. The first tension is not released.

  In the embodiment shown in FIGS. 6A and 6B, in the gripping portion 400, the protrusion 411 may be provided on the surface of the gripping portion main body 401 facing the sandwiching portion 403, or may be provided on both surfaces. Furthermore, the grip portion main body 401 and the pinching portion 403 may be non-slip on the surfaces facing each other by a coating film such as silicone resin.

  In addition to the control switches 412 and 418, switches having similar functions may be further provided, for example, in the housing 506 or the like. As described above, by providing the switches at a plurality of places, any switch can be used according to the situation of the operator, which further improves usability.

  Further, in the medical treatment tool gripping tool 1 of the present embodiment, the wire operating means 500 applies the second tension when the control device detects a minute current due to the resistor 334.

  However, instead of this, for example, a spring (not shown) that biases the rod 321 in the direction of the engaging member 325 is disposed in the hollow portion 328 of the proximal end 320, and the first tension by the wire operating means 500. The second tension may be applied by the spring when the second tension is released.

  Moreover, although the air cylinder 507 is used for the wire operation means 500 in the medical treatment tool holding tool 1 of this embodiment, you may use a conductive motor etc. FIG.

  Further, as shown in FIG. 12, the medical treatment tool holding tool 1 of the present embodiment is provided with a plurality of articulated bodies 300 at the tip of the stand 200, and holds the medical treatment tool 405 in each articulated body 300. When the patient 600 is treated, the position sensor 201 may be provided at the tip of the stand 200 to measure the distance between the patient 600 and the portion to be treated. When doing this, the distance between the medical treatment instrument 405 and the portion to be treated by the patient 600 is maintained at an appropriate distance by raising and lowering the tip of the stand 200 according to the detection result of the position sensor 201. it can.

    DESCRIPTION OF SYMBOLS 1 ... Medical treatment tool holding tool, 300 ... Articulated body, 301 ... Connector, 330 ... Wire, 400 ... Holding part, 405 ... Medical treatment tool, 412, 418 ... Switch.

Claims (5)

An articulated body in which a large number of connectors are engaged with each other and coupled, a gripping portion provided at the tip of the articulated body for detachably gripping a medical treatment tool, and the medical treatment tool by the gripping portion An operation unit for attaching and detaching the wire, a wire inserted into each of the connectors, one end of which is fixed to the distal end of the articulated body, and a wire operating means detachably connected to the other end of the wire Equipped
By applying a first tension to the wire by the wire operating means, the connectors can be brought into close contact to suppress movement of the articulated body, and the connectors can be released by releasing the first tension. A medical treatment tool gripping tool capable of releasing the tightness of the body and releasing the suppression of the movement of the articulated body,
A switch is provided to control application and release of the first tension, and the switch controls application and release of the first tension in conjunction with an attaching / detaching operation of the medical treatment tool by the operation unit ,
And tension holding means for holding the tension of the wire at a second tension weaker than the first tension when the first tension is released by the switch.
The articulated body has a proximal end that is attachable to and detachable from the wire operating means, and a connection for electrically connecting the switch and the wire operating means when the proximal end is attached to the wire operating means. Equipped with
The proximal end portion is inserted into a hole provided in the wire operating means, and a first engagement member engaged with the hole by rotating the hole in the direction orthogonal to the insertion direction; And a pair of electrode plates that contact a pair of electrode terminals provided on the wire operating means when the first engagement member is engaged with the hole, the pair of electrode plates comprising A medical treatment tool characterized in that it is connected by a resistor having a predetermined resistance, and that the tension holding means is operated by detecting that the pair of electrode plates are in contact with the pair of electrode terminals. Gripping tool. An articulated body in which a large number of connectors are engaged with each other and coupled, a gripping portion provided at the tip of the articulated body for detachably gripping a medical treatment tool, and the medical treatment tool by the gripping portion An operation unit for attaching and detaching the wire, a wire inserted into each of the connectors, one end of which is fixed to the distal end of the articulated body, and a wire operating means detachably connected to the other end of the wire Equipped
By applying a first tension to the wire by the wire operating means, the connectors can be brought into close contact to suppress movement of the articulated body, and the connectors can be released by releasing the first tension. A medical treatment tool gripping tool capable of releasing the tightness of the body and releasing the suppression of the movement of the articulated body,
A switch is provided to control application and release of the first tension, and the switch controls application and release of the first tension in conjunction with an attaching / detaching operation of the medical treatment tool by the operation unit ,
And tension holding means for holding the tension of the wire at a second tension weaker than the first tension when the first tension is released by the switch.
The articulated body has a proximal end that is attachable to and detachable from the wire operating means, and a connection for electrically connecting the switch and the wire operating means when the proximal end is attached to the wire operating means. Equipped with
The base end portion is a second engagement member engaged with a locking member provided on the wire operating means, and the wire when the second engagement member is engaged with the locking member The operation unit includes a pair of electrode plates in contact with a pair of electrode terminals, the pair of electrode plates being connected by a resistor having a predetermined resistance, the pair of electrode terminals being connected to the pair of electrode terminals A medical treatment tool holding tool characterized by detecting that a pair of electrode plates is in contact and operating the tension holding means . In claims 1 to 2 Symbol placement of medical treatment tool gripper, the gripper, the medical treatment instrument, characterized in that it comprises a plurality of grooves to secure the medical treatment instrument to a predetermined angle grip Equipment. The medical treatment tool holding tool according to any one of claims 1 to 3 , wherein the holding unit includes a plurality of protrusions for fixing the medical treatment tool at a predetermined angle. Medical treatment tool holding tool. The medical treatment tool holding tool according to any one of claims 1 to 4 , wherein the holding portion comprises a plurality of rollers for holding a columnar medical treatment tool rotatably about its axis. A medical treatment tool holding tool characterized by the above.