JP6622151B2 - Gripper, needle holder and attachment - Google Patents

Description

  The present invention is to stably and efficiently sew a gripper and a suture needle that can stably and efficiently move an object in a vertical tangential direction in a narrow space or the like by moving the needle in the vertical tangential direction. The present invention relates to a needle holder that can perform the above, and an attachment applied to these gripper and needle holder.

  As is well known, a surgical operation requires grasping, drilling, suturing, etc. of a living body under various environmental conditions including a narrow space. For this reason, grasping devices such as forceps and needle holders are required. (For example, refer to Patent Document 1 and Non-Patent Document 1).

  In a suturing procedure using such a needle holder, for example, the suturing needle can be held in a direction perpendicular to the longitudinal direction of the needle holder (hereinafter sometimes referred to as a lateral direction) and moved in the lateral direction. In general, the number of minimally invasive surgery that requires endoscopic surgery has increased in recent years, and the need for efficient grasping operations and efficient suture techniques in a narrow field of view has increased in minimally invasive surgery. Yes.

  In order to realize an efficient grasping operation and an efficient suturing technique in such a narrow field of view, for example, grasping that allows the suture needle to be moved in the longitudinal direction of the needle holder (hereinafter sometimes referred to as a vertical tangential direction) Instruments and needle holders have been developed (see, for example, Patent Document 2).

  Further, by further developing the invention described in Patent Document 2, a grasper and a needle holder capable of performing a grasping operation and a suture technique in a narrow visual field more stably and efficiently have been developed (for example, , See Patent Document 3).

Japanese Patent Laid-Open No. 8-038492 JP 2013-11111 A Japanese Patent No. 5922075

http://en.wikipedia.org/wiki/%E6%8C%81%E9%87%9D%E5%99%A8

  The grasper and needle holder described in Patent Document 2 are epoch-making in that they can grasp an object and a suture needle, and can handle and move the needle in a vertical tangential direction in a small space. .

  Further, the gripping device and the needle holder described in Patent Document 3 are preferable in that the object and suture needle gripped in the narrow space can be handled and moved in the vertical tangential direction more efficiently and stably. .

  However, there is a demand for a gripper and a needle holder that can perform gripping operation, handling, and needle movement in a small space more efficiently and stably and can ensure high reliability.

The present invention has been made in view of such circumstances, and an object thereof is to realize at least one of the following.
(1) To provide a grasping device and a needle holding device capable of stably grasping an object and a suture needle in a narrow space and the like and capable of handling and moving efficiently and stably.
(2) To provide a gripper and a needle holder capable of reducing the weight and the number of parts by adopting a simple configuration and ensuring high reliability.
(3) To provide a grasper, a needle holder, and an attachment that can easily and efficiently replace the holding arm member and can improve the hygiene safety in the operation.

In order to solve the above problems, the present invention proposes the following means.
The invention according to claim 1 is a gripper for gripping an object, wherein a sandwiching portion that can be relatively approached or separated is formed, and the sandwiching portion approaches so that the object can be sandwiched. A pair of sandwiching arm members, and a pair of the pair of sandwiching arm members disposed so that the pair of sandwiching arm members are rotatably supported around a first axis formed along a direction in which the sandwiching portion approaches or separates. possess an arm support member, said rotatably around a second axis perpendicular to the first clamping arm member formed by fixing the clamping arm supporting member and the clamping arm supporting member to said first axis disposed The pair of sandwiching arm members is configured by the second sandwiching arm member formed, and the second sandwiching arm member rotates around the second axis and opens and closes with the first sandwiching arm member. Is approaching or separating A grip member, is arranged the gripping member to the distal end side, a gripper main body grip portion which the operator holds the proximal end side is formed, and the holding operation section for inputting the clamping operation of the operator, the clamping operation A clamping operation transmission unit that transmits the clamping operation input to the clamping unit to the clamping arm member, and a first drive unit that approaches or separates the clamping unit by the clamping operation input to the clamping operation unit; A rotation operation unit that inputs an operator's rotation operation; and a rotation operation transmission unit that transmits the rotation operation input to the rotation operation unit to the holding arm support member. A second drive unit that rotates the holding arm support member around the first axis by a rotation operation input to the operation unit, and the holding operation transmission unit includes a flexible transmission member that can be bent. It is characterized by having.

According to the gripper according to the present invention, a pair of sandwiching arm members formed with a sandwiching portion that can be relatively approached or separated from each other, the sandwiching unit approaching, and a target object can be sandwiched, and a pair of sandwiching arms A gripping member having a sandwiching arm support member rotatably supporting a pair of sandwiching arm members around a first axis formed along a direction in which the member is disposed and the sandwiching portion approaches or separates; A gripping device body in which a gripping member is disposed and a grip portion that is held by an operator on the proximal end side is formed, a gripping operation portion that inputs a gripping operation of the operator, and a gripping operation that is input to the gripping operation portion A first drive unit that includes a clamping operation transmission unit that transmits to the arm member, and that approaches or separates the clamping unit by a clamping operation input to the clamping operation unit; and a rotation operation that inputs a rotation operation of the operator And rotation input to the rotation operation unit A second operation unit that rotates the holding arm support member around the first axis by a rotation operation input to the rotation operation unit. , And the clamping operation transmission part is provided with a flexible transmission member that can be bent, so that when the clamping operation is transmitted, the front and rear of the flexible transmission member (the clamping operation input side and the output side) relative to each other Even if the relative positional relationship or interval changes, the clamping operation can be stably transmitted.
In addition, for example, when an interference structure (meaning a structure formed at a position that interferes when connected linearly) is formed between the front and rear connection parts, the front and rear connection parts cannot be connected linearly. Even so, it is possible to reduce the number of links involved in the connection by bending the flexible transmission member and directly connecting the front and rear connection portions.
As a result, the link configuration for connecting the front and rear connection portions is simplified, and the size and weight can be reduced. Moreover, the reliability regarding the clamping operation can be improved.

The gripping member includes a first clamping arm member fixed to the clamping arm support member, and a second clamping arm disposed on the clamping arm support member so as to be rotatable about a second axis perpendicular to the first axis. A pair of sandwiching arm members are configured by the members, and the sandwiching portion approaches or separates by rotating the second sandwiching arm member around the second axis and opening and closing with the first arm member. The structure can be made simple, and the size and weight can be efficiently reduced.
In addition, since the first clamping arm member is fixed to the clamping arm support member and only the second clamping arm member is rotated, the clamping operation transmission unit of the first drive unit is simplified in structure, downsized, and The weight can be reduced. Further, the reliability of the clamping operation transmission unit can be improved and the clamping operation can be stably transmitted.

In this specification, when the sandwiching portions are relatively approached or separated, the sandwiching portions (or sandwiching surfaces) facing each other while holding their parallel postures are approached or separated, and the sandwiching arm member is rotated. Open and close, and the gripping part approaches or separates while changing the direction of each other and opposes in a posture suitable for gripping an object.
  Further, when the sandwiching portions are relatively approached or separated from each other, the sandwiching portions formed on the pair of sandwiching arm members may be moved together to approach each other, or one sandwiching portion is moved and the other sandwiching portion is moved. You may approach.
Further, in this specification, the object includes a living body (including a part), a tissue, a perforation device, an incision device, a suture needle, and the like.

According to a second aspect of the invention, a gripper according to claim 1, wherein the rotating operation transmitting unit includes a first rotating member disposed on the rotation operation portion, the clamping arm support A second rotating member disposed on the member side; and a connecting member that connects the first rotating member and the second rotating member, wherein the second rotating member rotates the second rotating member. It transmits to a rotation member, It is characterized by the above-mentioned.

According to the gripper of the present invention, the rotation operation transmission unit includes a first rotation member disposed on the rotation operation unit side, a second rotation member disposed on the holding arm support member side, and a first rotation member. A connecting member that connects the first rotating member and the second rotating member, and transmits the rotation of the first rotating member to the second rotating member; It can be efficiently transmitted to the rotating member.
In addition, the second drive unit can be reduced in size and weight.

A third aspect of the present invention is the gripper according to the second aspect , wherein the rotation operation transmitting unit inputs a rotation angle of the second rotation member to the first rotation member. A rotation operation amount conversion mechanism that is larger than the rotation angle is provided.

According to the gripper according to the present invention, the rotation operation amount conversion mechanism in which the rotation operation transmission unit makes the rotation angle of the second rotation member larger than the rotation angle input to the first rotation member. Since it is provided, even if the operation angle in the rotation operation unit is small, the holding arm member is rotated largely.
As a result, it can be easily and stably rotated in surgery or the like.

A fourth aspect of the present invention is the gripper according to any one of the first to third aspects, wherein the clamping operation portion is rotatably disposed on a grip portion of the gripper main body, and is operated. It is configured that a person can insert the grip part into the grip part by gripping the grip part.

  According to the gripper according to the present invention, the sandwiching operation portion is rotatably disposed on the grip portion of the gripper body, and the operator can insert the grip portion into the grip by gripping the grip portion. Therefore, the clamping operation can be performed efficiently and stably.

Invention of Claim 5 is the holding device of any one of Claim 1 to 4 , Comprising: The clamping operation holding mechanism holding the approaching state of the clamping part formed by the said clamping operation, And a holding operation release mechanism that releases the approaching state of the holding unit held by the holding operation holding mechanism.

The gripper according to the present invention includes the clamping operation holding mechanism that holds the approaching state of the clamping unit formed by the clamping operation, so that the object can be stably clamped.
In addition, since the holding operation release mechanism for releasing the approaching state of the holding unit held by the holding operation holding mechanism is provided, the object can be efficiently released.

The invention according to claim 6 is the gripper according to any one of claims 1 to 5 ,
A first engaging portion formed on the gripper body and detachably connected to the gripping member; and a second engaging portion, wherein the gripping member is engaged with the first engaging portion and sandwiched A first engaged portion that operates the holding arm member based on an operation, and a second engaged portion that engages with the second engaging portion and rotates the holding arm member based on a turning operation. And.

  According to the gripper according to the present invention, the gripping device includes a first engagement portion and a second engagement portion that are formed on the gripper main body and removably connect the gripping member. A first engaged portion that engages and operates the clamping arm member based on the clamping operation, and a second engaged portion that engages with the second engaging portion and rotates the arm member based on the rotating operation. The clamping arm support member can be easily and efficiently attached and detached.

The invention according to claim 7 is a needle holder, wherein the gripping device according to any one of claims 1 to 6 , wherein a suture needle holding recess corresponding to the suture needle is formed in the holding portion. It is characterized by being.

According to the needle holder according to the present invention, since the suture needle holding recess corresponding to the suture needle is formed in the holding portion, the suture needle can be easily and stably grasped.
As a result, the suture needle can be stably grasped and efficiently and stably moved in a narrow space or the like.

The invention according to claim 8 is an attachment used in a gripper for gripping an object, wherein a sandwiching portion that is relatively close or separable is formed, and the sandwiching portion approaches to sandwich the object. A pair of sandwiching arm members made possible, and the pair of sandwiching arm members can be rotated around a first axis formed along a direction in which the pair of sandwiching arm members are disposed and the sandwiching portion approaches or separates. A first holding arm member formed to be fixed to the holding arm support member and a second arm line orthogonal to the first axis. The pair of sandwiching arm members is configured by a second sandwiching arm member that is movably disposed, and the second sandwiching arm member rotates around a second axis to open and close the first sandwiching arm member. In the above A gripping member sandwiching member to close or away, characterized by comprising a first engaged portion and the second engaged portion of claim 6.

According to the attachment according to the present invention, the attachment can be easily and efficiently attached and detached from the gripper body.
As a result, the attachment can be discarded and the hygiene safety in the operation can be improved.

A ninth aspect of the present invention is the attachment according to the eighth aspect , wherein a suturing needle clamping recess corresponding to the suturing needle is formed in the clamping part.

According to the attachment according to the present invention, it is possible to easily and efficiently attach and detach the attachment from the needle holder body.
As a result, sanitary safety in surgery can be improved by making the attachment disposable.

According to the grasper and the needle holder according to the present invention, it is possible to stably grasp an object and a suture needle in a narrow space or the like, and to handle and move the needle efficiently and stably.
In addition, according to the gripper and the needle holder according to the present invention, it is possible to reduce the weight and the number of parts by adopting a simple configuration, and it is possible to ensure high reliability.
Moreover, according to the attachment which concerns on this invention, it is possible to replace | exchange a clamping arm member easily and efficiently, and can improve the hygiene safety in an operation | movement.

It is the longitudinal cross-sectional view seen from the front explaining the schematic structure of the needle holder which concerns on 1st Embodiment of this invention. It is a figure explaining an example of schematic structure of a needle holder and attachment concerning a 1st embodiment of the present invention, and is a perspective view seen from the right clamping arm member side. It is a figure explaining schematic structure of the needle holder concerning a 1st embodiment of the present invention, and is a perspective view seen from the right clamping arm member side. It is a figure explaining schematic structure of the needle holder concerning a 1st embodiment of the present invention, and is a perspective view seen from the left clamping arm member side. It is the longitudinal cross-sectional view seen from the front explaining the schematic structure of the clamping arm opening / closing drive part which concerns on the needle holder of 1st Embodiment of this invention. It is a top view explaining the outline of operation of the holding arm member concerning the needle holder of a 1st embodiment of the present invention, and is a figure showing the state where a holding arm member was opened. It is a top view explaining the outline of operation of the holding arm member concerning the needle holder of a 1st embodiment of the present invention, and is a figure showing the state where a holding arm member was closed. It is the longitudinal cross-sectional view seen from the front explaining the schematic structure of the clamping arm rotation drive part which concerns on the needle holder of 1st Embodiment of this invention. It is a figure explaining an example of an effect | action of the needle holder which concerns on 1st Embodiment of this invention, and is a perspective view which shows the state which clamped the suture needle | hook with the clamping arm member. It is a figure explaining an example of an effect | action of the needle holder which concerns on 1st Embodiment of this invention, and is a conceptual diagram which shows the state which stabbed the suture needle | hook in the 1st biological tissue. It is a figure explaining an example of an operation of a needle holder concerning a 1st embodiment of the present invention, and is a key map showing a state where a suture needle sutures the 1st living tissue and the 2nd living tissue. It is a figure explaining an example of an effect | action of the needle holder which concerns on 1st Embodiment of this invention, and is a conceptual diagram which shows the state which changes the suture needle | hook which sewn the 1st biological tissue and the 2nd biological tissue. It is a figure explaining an example of an operation of a grasper concerning a 2nd embodiment of the present invention, and is a key map showing the 1st posture at the time of treating by changing the posture of living tissue in the abdominal cavity. It is a figure explaining an example of an effect | action of the grasper which concerns on 2nd Embodiment of this invention, and is a conceptual diagram which shows the 2nd attitude | position in the case of changing and treating the attitude | position of a biological tissue in the abdominal cavity.

<First Embodiment>
Hereinafter, a needle holder according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 8D. FIG. 1 is a longitudinal sectional view illustrating a schematic configuration of a needle holder according to the first embodiment of the present invention as viewed from the front. Reference numeral 100 denotes a needle holder, and reference numeral 10 denotes a needle holder body (gripper). Reference numeral 20 denotes an attachment, reference numeral 30 denotes a clamping arm opening / closing drive unit (first driving unit), and reference numeral 40 denotes a clamping arm rotation driving unit (second driving unit).

As shown in FIG. 1, the needle holder (gripper) 100 includes a needle holder main body (gripper main body) 10, an attachment (gripping member) 20, a sandwiching arm opening / closing drive unit (first drive unit) 30, and the like. , And a holding arm rotation drive unit (second drive unit) 40, for example, a vertical tangential direction (for example, a direction along the longitudinal direction of the needle holder 100) with a suture needle (target object) held therebetween. You can move your hand.
Note that the needle holder 100 according to the first embodiment may be used to hold a living tissue (including a part), a perforation device, an incision device, or the like as an object instead of the suture needle.

  The needle holder main body (gripper main body) 10 includes, for example, a casing 11, an attachment mounting bracket 12, a protective pipe 13, a guide member 14, and a pipe mounting nut 15.

  As shown in FIG. 1, the casing 11 includes, for example, an elongated casing body 11A, and a grip portion 11B formed integrally with the casing body 11A on the base end side 10B of the casing body 11A. The casing 11 has a space formed inward.

  The grip portion 11B is formed in a direction crossing the casing main body 11A on the base end side 10B of the casing main body 11A and has a substantially pistol-shaped outer shape. The operator operates the needle holder 100 by grasping the grip portion 11B. Is configured to do.

Further, the grip portion 11B has an intersecting angle θ = 45 ° to 90 ° with respect to the longitudinal direction of the casing body 11A (for example, the direction along the axis of the protective pipe 13) on the proximal end side 10B of the needle holder 100. The connection to the casing body 11A is suitable for stably grasping and operating the needle holder 100.
The crossing angle θ may be less than 45 °, but the crossing angle θ = 60 ° to 85 ° is more preferable, and the crossing angle θ = 70 ° to 80 ° is more preferable.

As shown in FIGS. 2 to 4, the attachment mounting bracket 12 includes, for example, a multistage cylindrical mounting bracket base 12 </ b> A in which a through hole 12 </ b> H extending in the longitudinal direction is formed at the center, and a needle holder body from the mounting bracket base 12 </ b> A. 10 is provided with a left support wall portion 12L erected along the longitudinal direction of 10 and a right support wall portion 12R formed to face the left support wall portion 12L across the through hole 12H.
The attachment mounting bracket 12 is attached to the tip of the protective pipe 13.

For example, the mounting base 12A is connected to the protective pipe 13 by inserting a sleeve portion having a small diameter into the protective pipe 13.
In addition, the through-hole 12H allows a part of the holding arm opening / closing drive part (first drive part) 30 to be exposed from the protective pipe 13 toward the distal end side 10A of the needle holder body 10.

  As shown in FIG. 2, the left support wall portion 12L has, for example, a flat portion formed on a surface facing the right support wall portion 12R, and the longitudinal direction of the needle holder body 10 (for example, the protection pipe 13 When viewed along the rotation axis O21 corresponding to the rotation axis (first axis) O21 that is orthogonal to the axis) and passes through the center of the flat portion and extends toward the right support wall 12R. A rotation support shaft (second engagement portion) 12J that is circular and protrudes toward the right support wall portion 12R is formed.

  As shown in FIG. 2, the right support wall 12R has, for example, a flat portion formed on the surface facing the left support wall 12L, and a rotation axis O21 at the center of the flat portion. A rotation shaft support hole 12S is formed. And the rotation pulley 45 of the clamping arm rotation drive part 40 mentioned later is rotatably supported by the rotation shaft support hole 12S.

  As shown in FIG. 1, the protective pipe 13 is formed of, for example, a cylindrical stainless steel pipe, and includes a sandwiching arm opening / closing drive unit (first drive unit) 30 and a sandwiching arm turning drive unit (second drive unit). A part of 40 is accommodated, and these are guided from the casing body 11 </ b> A to the distal end side 10 </ b> A of the needle holder body 10.

  The protective pipe 13 prevents the sandwiching arm opening / closing drive unit 30 and the sandwiching arm turning drive unit 40 from coming into contact with the living tissue and prevents them from being damaged by an external force.

  As shown in FIG. 1, the guide member 14 is attached to the casing main body 11 </ b> A by, for example, an attachment member (not shown), and is held at the center when viewed along the longitudinal direction of the needle holder main body 10. A guide hole 14H is formed in the longitudinal direction of the needle device body 10 (for example, the direction along the axis of the protective pipe 13).

The guide hole 14H is formed so as to be slidable on a guide slide 34 constituting a sandwiching arm opening / closing drive unit 30 described later.
Further, a protective pipe mounting hole 14S is formed on the distal end side 10A of the guide hole 14H, and the protective pipe 13 is inserted and mounted in the protective pipe mounting hole 14S.

Further, the guide member 14 has a screw portion 14A formed on the distal end side 10A, and when the guide member 14 is mounted on the casing 11, the screw portion 14A protrudes from the distal end side 10A of the casing body 11A. Yes.
Then, the protective pipe 13 is inserted into the protective pipe mounting hole 14S and mounted, and a cap nut-shaped pipe mounting nut 15 is mounted on the screw portion 14A, thereby fixing the protective pipe 13 to the casing body 11A. Yes.

  Next, the attachment (gripping member) 20 according to the first embodiment will be described with reference to FIGS. 2 to 4. In the figure, reference numeral 21 denotes a pair of sandwiching arm members (hereinafter also referred to as a sandwiching arm member), reference numeral 21L denotes a left sandwiching arm member, and reference numeral 21R denotes a right sandwiching arm member.

  FIG. 2 is a diagram illustrating an example of a schematic configuration of the needle holder and attachment according to the first embodiment, and is a perspective view seen from the right clamping arm member 21R side. 3 and 4 are perspective views illustrating a schematic configuration viewed from the right clamping arm member 21R side and the left clamping arm member 21L side for explaining a schematic configuration of the needle holder 100. FIG.

As shown in FIGS. 2 to 4, the attachment (grip member) 20 includes, for example, a sandwiching arm member 21, a sandwiching arm support member (support member) 24, a return spring 26, and a sandwiching arm rotation support shaft 21 </ b> J. , A D-shaped key receiving portion (first engaged portion) 28U, and an E-shaped retaining ring (second engaged portion) 28E.
As shown in FIGS. 2 to 4, the sandwiching arm member 21 includes, for example, a left sandwiching arm member 21 </ b> L and a right sandwiching arm member 21 </ b> R.

The left clamping arm member 21L is formed in an elongated shape with the tip side gradually becoming narrower, a clamping surface (clamping portion) 22L is formed at the distal end portion, and a suture needle having a V-shaped cross section on the clamping surface 22L. A sandwiching recess 23 is formed.
Further, the left sandwiching arm member 21L is supported by a pivot support shaft 21J so as to be rotatable around a pivot axis (second axis) O11 in the longitudinal direction, and forms a movable sandwich arm member.

The right clamping arm member 21R is formed in an elongated shape with the tip side gradually becoming narrower, a clamping surface (clamping portion) 22R is formed at the distal end portion, and a suture needle clamping recess having a V-shaped cross section on the clamping surface 22R. 23 is formed.
Further, in this embodiment, the right clamping arm member 21R is formed integrally with the clamping arm support member (supporting member) 24 on the base end side, and is fixed to the clamping arm support member 24 to form a fixed clamping arm member. .

Then, the left clamping arm member 21L is rotated about the rotation axis O11, so that the clamping surface 22L of the left clamping arm member 21L and the clamping surface 22R of the right clamping arm member 21R approach or separate from each other. Yes.
As a result, the pair of sandwiching arm members 21 are opened and closed to sandwich the object.

  As shown in FIGS. 2 to 4, the holding arm support member (support member) 24 includes a connection wall portion 24 </ b> L positioned on the left side when viewed from the operator, and is positioned and connected on the right side when viewed from the operator. A clamping arm member 21R is arranged at a position facing the wall 24L.

  Further, a D-shaped key receiving portion (first engaged portion) 28U is formed on the needle holder main body 10 side of the holding arm member 21R, and an E-shaped retaining ring (on the needle holder main body 10 side of the connecting wall portion 24L). (Second engaged portion) 28E is formed.

  The D-shaped key receiving portion (first engaged portion) 28U is a recess formed corresponding to the D-cut connecting portion (first engaging portion) 45D of the rotating pulley 45, and the D-cut connecting portion When 45D is received (engaged), the D-shaped key receiving portion 28U and the D-cut connecting portion 45D are engaged and attached to the rotating pulley 45.

  As a result, the D-shaped key receiving portion (first engaged portion) 28U and the D-cut connecting portion (first engaging portion) 45D are used for detachably connecting the attachment 20 to the needle holder body 10. The first connection portion is configured, and the attachment 20 can be rotated around the rotation axis O21 by the rotation pulley 45.

  The E-shaped retaining ring (second engaged portion) 28E is formed, for example, on the connection wall portion 24L, and has an inner periphery formed in a size that allows the rotation support shaft (second engaging portion) 12J to be inserted. An arc-shaped concave portion formed in an arc shape and a plurality of (for example, three) concave portions extending radially outward from the arc-shaped concave portion, and the convex portions formed between the plurality of concave portions are elastically deformed. Thus, the rotation support shaft 12J can be accommodated.

As a result, the E-shaped retaining ring (second engaged portion) 28E and the rotation support shaft 12J constitute a second connection portion for detachably connecting the attachment 20 to the needle holder body 10. The attachment 20 supports the rotation around the rotation axis O21.
As the E-shaped retaining ring (second engaged portion) 28E, for example, those defined in JIS B 2805 (1978) can be applied.

The D-shaped key receiving portion (first engaged portion) 28U and the E-shaped retaining ring (second engaged portion) 28E constitute the engaged portion 28, and the D-cut connecting portion (first engaging portion). ) A connecting portion between the needle holder main body 10 and the attachment 20 is formed together with the engaging portion including 45D and the rotation support shaft (second engaging portion) 12J.
As a result, the attachment 20 can be easily and efficiently attached and detached from the needle holder body 10.

  The return spring 26 is composed of, for example, a tension spring (coil spring), and the proximal end side of the left holding arm member 21L (the needle holder body 10 side with respect to the rotation axis O21) and the right holding arm member by a spring mounting pin 26P. The left holding arm member 21L and the right holding arm member 21R are connected to the base end side of 21R.

  Then, by pulling the proximal end side of the left sandwiching arm member 21L and the proximal end side of the right sandwiching arm member 21R, the sandwiching surface 22L of the left sandwiching arm member 21L and the sandwiching surface 22R of the right sandwiching arm member 21R are separated from each other. It is designed to be biased in the direction of

  As shown in FIG. 5A, the clamping arm opening / closing drive unit (first driving unit) 30 includes a clamping operation lever (clamping operation unit) 31, a clamping operation transmission unit 32, and a clamping operation lever biasing spring 32S. The first flexible transmission member 33, the guide slide 34, the second flexible transmission member 35, the sandwiching arm member operating lever 36, the connection wheel 37, the sandwiching operation release lever 38, and the sandwiching operation release lever biasing spring 38S. And.

  In this embodiment, for example, the connection wheel 37, the clamping operation transmission unit 32, the first flexible transmission member 33, the guide slide 34, the second flexible transmission member 35, and the clamping arm member operating lever 36 are separated from the clamping operation lever 31. They are connected in this order to constitute a clamping operation transmission unit.

  The clamping operation lever (clamping operation unit) 31 is connected to, for example, a connection wheel 37 supported so as to be rotatable around the axis O13, and disposed on the grip unit 11B of the needle holder body 10 via the connection wheel 37. Has been.

  When the operator presses in the direction of the arrow T11, the sandwiching operation lever 31 is rotated around the axis O13, and a posture change portion due to the rotation is inserted inside the grip portion 11B. .

  The clamping operation lever urging spring 32S is constituted by a mainspring spring, for example, and urges the clamping operation lever 31 in the direction opposite to the arrow T11.

  The sandwiching operation transmitting unit 32 is connected to the sandwiching operation lever 31 via, for example, a connection wheel 37, and extends toward the substantially opposite side of the sandwiching operation lever 31 with the axis O13 interposed therebetween. Then, when the clamping operation lever 31 is pressed in the direction of the arrow T11, it is rotated in the direction of the arrow T111.

  The first flexible transmission member 33 includes, for example, a metal wire or a resin wire formed so as to be bendable, and includes a first transmission member input portion 33A and a first transmission member output portion 33B. .

  As shown in FIG. 5 (A), the first flexible transmission member 33 has a first transmission member input portion 33A connected to the distal end portion of the clamping operation transmission portion 32 so that the posture of the first flexible transmission member 33 can be changed. The part 33 </ b> B is connected to the proximal end side of the guide slide 34 so that the posture of the part 33 </ b> B can be changed.

  In addition, although the material of the 1st flexible transmission member 33 can be set arbitrarily, a titanium wire, a piano wire, etc., or a thin metal band, a resin wire, a resin band, etc. are suitable.

  The second flexible transmission member 35 includes, for example, a metal wire or a resin wire formed so as to be bendable, and includes a second transmission member input portion 35A and a second transmission member output portion 35B. .

  As shown in FIG. 5A, the second flexible transmission member 35 has a second transmission member input portion 35A connected to the distal end portion of the guide slide 34 so that the posture of the second flexible transmission member 35 can be changed, and the second transmission member output portion 35B. Are connected to the holding arm member operating lever 36 so that their postures can be changed.

  In addition, although the material of the 2nd flexible transmission member 35 can be set arbitrarily, a titanium wire, a piano wire, etc., or a thin metal band, a resin wire, a resin belt, etc. are suitable.

As shown in FIGS. 2 to 4, the sandwiching arm member operating lever 36 includes an input arm portion 36A, an output arm portion 36B, a rotation shaft portion 36J arranged coaxially with the axis O12, a mounting pin 36P, And a sandwiching arm operating convex portion 36C.
The input arm portion 36A and the output arm portion 36B are connected in a substantially L shape via a rotation shaft portion 36J, and are rotatable around the rotation shaft portion 36J.

Further, the second transmission member output portion 35B is connected to the distal end portion of the input arm portion 36A by a mounting pin 36P.
Further, the sandwiching arm operation convex portion 36C is formed with a substantially hemispherical spherical surface projecting in the vicinity of the distal end of the output arm portion 36B, and the sandwiching operation force receiving surface formed on the proximal end side of the left sandwiching arm member 21L. It can be pressed.

  The connection wheel 37 is formed in, for example, a substantially disk shape, is connected to a shaft portion 31J coaxially arranged with the axis O13, and is connected to the casing 11 according to the operation amount (rotation angle) of the clamping operation lever 31. To be rotated.

  Further, the connection wheel 37 has, for example, one or a plurality of ratchet claws 37A formed on the outer periphery, and the ratchet claws 37A also rotate around the axis O13 according to the operation amount (rotation angle) of the clamping operation lever 31. It is supposed to be.

  As shown in FIG. 5A, the clamping operation release lever 38 is connected to a support shaft 38J disposed coaxially with the axis O14, and is rotated around the axis O14 when pressed in the direction of the arrow T3. It has become.

The clamping operation release lever urging spring 38S is constituted by a mainspring spring, for example, and is configured to urge the clamping operation release lever 38 in the direction opposite to the arrow T3.
As a result, the ratchet pawl 38A is urged toward the connection wheel 37, and when the ratchet pawl 37A is in a predetermined position, the ratchet pawl 38A engages with the ratchet pawl 37A, so that the connection wheel 37 is moved around the axis O13. It is locked at the circumferential position.

  Further, the connection wheel 37 in which the ratchet pawl 38A engages with the ratchet pawl 37A and is locked at a predetermined position causes the clamping operation release lever 38 to move in the direction of the arrow T3 against the bias of the clamping operation release lever biasing spring 38S. By pressing, the engagement between the ratchet pawl 38A and the ratchet pawl 37A is released.

  The connection wheel 37 in which the engagement between the ratchet pawl 38A and the ratchet pawl 37A is released is rotated about the axis O13 in the direction opposite to the arrow T111 by the clamping operation lever biasing spring 32S, and the clamping operation release lever biasing spring 38S. Thus, even if the clamping operation release lever 38 is rotated and the ratchet pawl 38A is pressed by the connection wheel 37, the ratchet pawl 38A does not engage with the ratchet pawl 37A, and the clamping operation lever 31 and the connection wheel 37 become free. As a result, the sandwiching arm member 21 is in an open state.

  In this embodiment, the connection wheel 37, the ratchet pawl 37A, the sandwiching operation release lever 38, the ratchet pawl 38A, and the sandwiching operation release lever biasing spring 38S constitute a sandwiching operation holding mechanism and a sandwiching operation releasing mechanism.

  5B, for example, by connecting the input portion 39A of the flexible transmission member 39 to the clamping operation transmission portion 32 and connecting the output portion 39B to the clamping operation lever 36, clamping is performed. The arm opening / closing drive unit 30 may include a single flexible transmission member 39 that directly connects the clamping operation transmission unit 32 and the clamping operation lever 36.

  In the state where the clamping operation lever 31 is not operated in the direction of the arrow T11, as shown in FIG. 6A, the return spring 26 pulls the proximal end side of the left clamping arm member 26L, so that the clamping arm member 21 is opened. The left holding arm member 21L is separated from the right holding arm member 21R.

  Further, as shown in FIG. 6B, when the clamping operation lever 31 is operated in the direction of the arrow T11, the second flexible transmission member 35 advances to rotate the clamping operation lever around the axis O12, and the operation convex portion 36C is the receiving portion. Press 21A. As a result, the left clamping arm member 21L is rotated around the rotation axis O11 in the direction of the arrow R11, and the clamping arm member 21 is closed.

Next, with reference to FIG. 7, the sandwiching arm rotation drive unit (second drive unit) will be described.
FIG. 7 is a longitudinal cross-sectional view seen from the front for explaining a schematic configuration of the holding arm rotation drive unit according to the needle holder of the first embodiment.

  As shown in FIG. 7, the holding arm rotation drive unit (second drive unit) 40 includes, for example, a rotation operation lever (rotation operation unit) 41, a drive pulley (first rotation member) 44, and a rotation. A moving pulley (second rotating member) 45, a tension pulley 46, and a wire (connecting member) 47 are provided.

The drive pulley 44, the wire 47, and the rotation pulley 45 are connected in this order from the rotation operation lever 41, and the tension pulley 46 is disposed outside the wire 47, and presses the wire 47 from the outside. By applying tension to the wire 47, the rotation operation is efficiently transmitted from the drive pulley 44 to the rotation pulley 45.
The drive pulley 44, the wire 47, the rotation pulley 45, and the tension pulley 46 constitute a rotation operation transmission unit.

  The rotation operation lever (rotation operation unit) 41 is formed, for example, in a substantially T shape, and can be rotated around a rotation axis 41J arranged coaxially with the axis O22.

The drive pulley (first rotation member) 44 is connected to the rotation operation lever 41 so that when the rotation operation lever 41 is operated, the drive pulley (first rotation member) 44 rotates together with the rotation operation lever 41 around the rotation shaft 41J. It has become.
Further, the drive pulley 44 is formed with a wire mounting groove (not shown), and the wire 47 wound around the wire mounting groove turns around according to the operation amount of the rotation operation lever 41.

  The rotating pulley (second rotating member) 45 is formed in a multistage columnar shape, and is coaxially arranged with a wire mounting groove 45U, a pulley rotating shaft 45J, and a D-cut connecting portion (first engaging portion). ) 45D.

  A wire 47 is wound around the wire mounting groove 45U, and a rotation operation is transmitted from the drive pulley 44.

  The pulley rotation shaft 45J is rotatably fitted in the rotation shaft support hole 12S, and rotates the wire mounting groove 45U and the D-cut connection portion (first engagement portion) 45D around the rotation axis O21. It is possible.

  The D-cut connecting portion (first engaging portion) 45D is a parallel key composed of a pair formed in parallel to the outer periphery of the rotating pulley 45, and the D-shaped key receiving portion (first engaged portion) of the attachment 20 Part) can be engaged with 28U.

  The wire (connecting member) 47 is formed in a ring shape, wound around the wire mounting groove of the drive pulley 44 and the wire mounting groove 45U of the rotating pulley 45, and the rotation of the driving pulley 44 is rotated by the rotating pulley 45. To communicate.

Further, for example, the radius around the axis O22 of the wire installation groove of the drive pulley 44 is set to 4.0 times larger than 1.0 with respect to the wire installation groove 45U of the rotation pulley 45, and It is preferable that the rotation angle of the moving pulley 45 is configured to be larger than the rotation angle of the drive pulley 44. Thus, the drive pulley 44 and the rotation pulley 45 constitute a rotation operation amount conversion mechanism.
Note that the conversion ratio (output angle / input angle) of the rotation operation amount conversion mechanism is preferably set arbitrarily according to the target surgery, for example, more than 1.0 and 3.0 or less. You may set to the ratio of the range or the range beyond 2.0 and below 2.0.

  As a result, the rotation operation transmission unit has the holding arm even if the rotation angle of the rotation pulley 45 is larger than the rotation angle input to the drive pulley 44 and the operation angle input from the rotation operation lever 41 is small. The member 21 is greatly rotated so that it can be easily and stably rotated in surgery or the like.

  With this configuration, the holding arm member 21 is rotated in the direction of the arrow R21 when the rotation operation lever 41 is operated in the direction of the arrow T21, and the holding arm member 21 is operated when the rotation operation lever 41 is operated in the direction of the arrow T22. Is rotated in the direction of arrow R22.

Next, referring to FIGS. 8A to 8D, the needle operation of the suture needle 110 by the needle holder 100 will be described. 8A to 8D, reference numeral 110 indicates a suture needle, and reference numeral 111 indicates a suture thread. 8A to 8D are diagrams for explaining an example of the action of the needle holder according to the first embodiment. FIG. 8A shows a state in which the suture needle is clamped by the clamping arm member, and FIG. 8B shows the first living body. FIG. 8C shows a state in which the suture needle is inserted into the tissue, FIG. 8C shows a state in which the suture needle sutures the first biological tissue and the second biological tissue, and FIG. 8D shows the first biological tissue and the second biological tissue. It is a figure which shows the state which changes the stitched suture needle | hook.
Reference numeral S1 indicates a first biological tissue that pierces the suture needle 110 first, and reference numeral S2 indicates a second biological tissue that is stabbed after the suture needle 110 and is sutured to the first biological tissue S1. ing. Examples of the first living tissue S1 and the second living tissue S2 include blood vessels.

(1) First, as shown in FIG. 8A, for example, the left clamping arm member 21L is rotated in the direction of arrow R11, and the suture needle 110 is clamped by the clamping arm member 21.
Then, the clamping arm member 21 is rotated in the direction of the arrow R22, for example.
(2) Next, as shown in FIG. 8B, the end portions of the first living tissue S1 and the second living tissue S2 are brought close to each other, the position and posture of the needle holder 100 are adjusted, and the holding arm member 21 The suture needle 110 sandwiched between the first and second living tissues S1 and S2 is positioned in the vicinity of the first living tissue S1 and the second living tissue S2.
Then, the holding arm member 21 is rotated in the direction of the arrow R21, and the suture needle 110 is moved in the longitudinal direction to pierce the first living tissue S1.
The posture and position of the needle holder 100 with respect to the first living tissue S1 are appropriately adjusted according to the situation of the hand movement.
(3) Next, as shown in FIG. 8C, the ends of the first living tissue S1 and the second living tissue S2 are butted together so that the suture needle 110 passes near the center of the first living tissue S1. Then, the suture needle 110 is moved from the first living tissue S1 toward the second living tissue S2.
(4) Next, as shown in FIG. 8D, when the suture needle 110 passes through the first biological tissue S1 and the second biological tissue S2, and the distal end portion of the suture needle 110 protrudes from the second biological tissue S2. Then, the holding arm member 21 is once opened, and the suture needle 110 is released from the holding arm member 21.
Then, the distal end side of the suture needle 110 is sandwiched again, the suture needle 110 is pulled out from the second living tissue S2, and the first living tissue S1 and the second living tissue S2 are connected by the suture thread 111.
By repeating the operations (1) to (4), the ends of the first living tissue S1 and the second living tissue S2 are stitched together.

  According to the needle holder 100 according to the first embodiment, the first flexible transmission member 33 and the second flexible transmission member 35 are provided, and when the clamping operation is transmitted, the first flexible transmission member 33 and the second flexible transmission member 35 are provided. Even if the relative positional relationship or interval between the input parts 33A and 35A and the output parts 33B and 35B before and after the transmission member 35 changes, the clamping operation can be stably transmitted.

Further, according to the needle holder 100 according to the first embodiment, for example, even if interference structures are arranged before and after the first flexible transmission member 33 and the second flexible transmission member 35, the first flexible transmission member 33. Since the second flexible transmission member 35 is curved, the number of links related to the connection can be reduced.
As a result, the link configuration is simplified, and the size and weight can be reduced. Moreover, the reliability regarding the clamping operation can be improved.

  Further, according to the needle holder 100 and the attachment 20 according to the first embodiment, the right holding arm member 21R fixed to the holding arm support member 24 and the rotation axis O21 are disposed so as to be rotatable. Since the sandwiching surfaces 22L and 22R approach or separate from each other by the left sandwiching arm member 21L, the structure is simplified and the size and weight can be reduced efficiently. Further, the reliability of the clamping operation transmission unit can be improved and the clamping operation can be stably transmitted.

  Further, according to the needle holder 100 according to the first embodiment, since the clamping operation lever 31 is configured to be insertable into the grip portion 11B, it is possible to perform a clamping operation efficiently and stably. .

Further, according to the needle holder 100 and the attachment 20 according to the first embodiment, since the holding operation holding mechanism for holding the approaching state of the holding surfaces 22L and 22R formed by the holding operation is provided, the suture needle 110 is attached. It can be clamped stably.
In addition, since the holding operation release mechanism for releasing the approaching state of the holding surface 22 held by the holding operation holding mechanism is provided, the suture needle 110 can be efficiently released.

  Further, according to the needle holder 100 and the attachment 20 according to the first embodiment, the D-shaped key receiving portion 28U and the E-shaped retaining ring 28E, the D-cut connecting portion 45D, and the rotation support shaft 12J are connected to the needle holder main body 10. Since the connection part of the attachment 20 is comprised, the needle holder main body 10 and the attachment 20 can be attached and detached easily and efficiently.

Further, according to the needle holder 100 and the attachment 20 according to the first embodiment, since the suture needle clamping recess 23 is formed on the clamping surface 22, the suture needle 110 can be easily and stably gripped.
As a result, the suture needle 110 can be stably grasped and efficiently and stably moved in a narrow space or the like.

Further, according to the needle holder 100 and the attachment 20 according to the first embodiment, the attachment 20 can be easily attached and detached from the needle holder body 10.
As a result, the attachment 20 can be made disposable and the hygiene safety in the operation can be improved.

Second Embodiment
Next, with reference to FIG. 8A and FIG. 8B, an example of how to use the gripper 100A according to the second embodiment of the present invention will be described.
9A and 9B are diagrams for explaining an example of the operation of the gripper 100A according to the second embodiment of the present invention. For example, in the abdominal cavity, the blood vessel Y3 located behind the living tissues Y1 and Y2 is illustrated. It is a conceptual diagram which shows an example in the case of changing a posture and treating.

  9A and 9B, reference numeral 20A denotes an attachment (gripping member), and reference numeral 120 denotes a trocar used when the grasper 100A is inserted into the abdominal cavity during abdominal surgery. The gripper 100A according to the second embodiment is different from the first embodiment in that the suture needle clamping recess 23 is not formed in the grip portion of the attachment (grip member) 20A. Since it is the same as that of the needle holder 100 according to the first embodiment, the same reference numerals as those in the first embodiment are attached and the description thereof is omitted.

(1) First, as shown in FIG. 9A, the distal end side of the gripper 100A is inserted into the abdominal cavity via the trocar 120, and the attachment 20A is positioned on the back side of the biological tissues (for example, organs) Y1 and Y2. . At this time, the pair of clamping arm members 21 are closed by the clamping operation holding mechanism.
(2) Next, for example, the clamping operation release lever (clamping operation release mechanism) 38 is pressed in the direction of the arrow T3 to release the engagement between the ratchet pawl 37A and the ratchet pawl 38A (a clamping operation holding mechanism, not shown). Then, the holding arm member 21 is opened.
Then, as shown in FIG. 9A, the rotation operation lever 41 is operated in the direction of the arrow T22 to rotate the holding arm member 21 in the direction of the arrow R22, thereby positioning the holding arm member 21 in the vicinity of the blood vessel Y3.
(3) Next, as shown in FIG. 9A, the clamping operation lever (clamping operation unit) 31 is operated in the direction of the arrow T11 to close the clamping arm member 21 and grip the blood vessel Y3. At this time, the ratchet pawl 37A and the ratchet pawl 38A (a clamping operation holding mechanism, not shown) are engaged, and the clamping arm member 21 is held in a closed state.
(4) Next, as shown in FIG. 9B, the rotation operation lever (rotation operation unit) 41 is operated in the direction of the arrow T21 to rotate the holding arm member 21 in the direction of the arrow R21 while holding the blood vessel Y3. To change the direction of the blood vessel Y3. Thereafter, a desired treatment is subsequently applied to the blood vessel Y3.

  As described above, by using the needle holder 100A, for example, it is possible to easily and stably change a part of a living body including a blood vessel and a posture of a living tissue, and a small space in a narrow space. It is possible to efficiently perform difficult procedures such as gripping and changing the direction of the object.

Note that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention.
For example, it is needless to say that the sandwiching arm opening / closing drive unit (first drive unit) 30 and the sandwiching arm rotation drive unit (second drive unit) 40 are not limited to the above configuration.
In addition, the gripping member need not be detachable as the attachment 20.

  Moreover, in the said embodiment, the clamping arm opening / closing drive part (1st drive part) 30 is provided with the 1st flexible transmission member 33 and the 2nd flexible transmission member 35, and is connected via the guide slide 34, for example. However, the number and arrangement of the flexible transmission members can be arbitrarily set. For example, three or more flexible transmission members are provided. It is good also as a structure.

  Moreover, in the said embodiment, although the titanium wire or the piano wire was illustrated as a flexible transmission member, if it is possible to transmit clamping operation force in the curved state, another metal wire, an elongate metal strip, a resin wire It can be arbitrarily set such as an elongated resin band.

  Further, in the above-described embodiment, the case has been described in which the right clamping arm member 21R of the pair of clamping arm members 21 is fixed and the left clamping arm member 21L is rotatable around the rotation support shaft 21J. However, the left support arm member 21L and the right support arm member 21R are provided with a rotation support shaft shared by the left support arm member 21L, and the left support arm member 21L and the right support arm member 21R rotate about the rotation support shaft, respectively. It is good.

  Further, the left and right sandwiching arm members 21L and 21R are provided with pivot support shafts, respectively, and the sandwiching arm members 21L and 21R are pivoted around the pivot support shafts so that the sandwiching arm member 21 is opened and closed. Good.

  Further, instead of the clamping arm member 21 being opened and closed by a pivoting operation so that the clamping surface (clamping part) 22 approaches and separates, for example, the left and right clamping arm members 21L and 21R are connected by a rack and pinion or the like. The left clamping arm member 21L and the right clamping arm member 21R may approach and separate while maintaining the state where the clamping surfaces (clamping parts) 22 face each other in parallel.

  Moreover, in the said embodiment, the case where the clamping arm opening / closing drive part (1st drive part) 30 and the clamping arm rotation drive part (2nd drive part) 40 are comprised independently of the attachment 20 is demonstrated. However, the attachment 20 may be configured to include a part of the configuration of the sandwiching arm opening / closing drive unit 30 and the sandwiching arm turning drive unit 40.

  Moreover, in the said embodiment, although the case where the needle holder 100 was provided with the clamping operation holding mechanism and the clamping operation cancellation | release mechanism was demonstrated, it is set arbitrarily whether it is provided with a clamping operation holding | maintenance mechanism and a clamping operation cancellation | release mechanism. Can do.

  In the above embodiment, the connection wheel 37, the ratchet pawl 37A, the clamping operation release lever 38, the ratchet claw 38A, and the clamping operation release lever biasing spring 38S constitute a clamping operation holding mechanism and a clamping operation release mechanism. However, the operation holding mechanism and the pinching operation release mechanism may be configured using a lock mechanism other than the ratchet.

  Further, in the above embodiment, the attachment 20 is connected to the needle holder body 10 by the D-shaped key receiving portion (first engaged portion) 28U and the E-shaped retaining ring (second engaged portion) 28E. However, the connection (configuration of the connecting portion) between the attachment 20 and the needle holder body 10 can be arbitrarily set.

  Moreover, in the said embodiment, the clamping arm rotation drive part (2nd drive part) 40 is a drive pulley (1st rotation member) 44, the rotation pulley (2nd rotation member) 45, and tension | tensile_strength. Although the case where the pulley 46 and the wire (connecting member) 47 are provided has been described, for example, a link mechanism including a lever that can be rotated and a flexible transmission member or a rod that does not bend is applied. Good.

Further, instead of the drive pulley (first rotating member) 44, the rotating pulley (second rotating member) 45, the tension pulley 46, and the wire (connecting member) 47, a pair of sprockets and chains may be applied. .
Further, whether or not the tension pulley 46 is provided can be arbitrarily set.

  Moreover, in the said embodiment, although the case where the needle holder 100 was provided with the rotation operation amount conversion mechanism which enlarges a rotation operation amount was demonstrated, whether it is provided with a rotation operation amount conversion mechanism is set arbitrarily. be able to. Moreover, you may provide the rotation operation amount conversion mechanism which makes a rotation operation amount small.

  Further, in the above embodiment, the case where the rotation operation amount conversion mechanism is configured by the radius of the wire mounting groove of the drive pulley 44 and the rotation pulley 45 has been described. However, the configuration of the rotation operation amount conversion mechanism is a lever by a link. A ratio may be used and can be set arbitrarily.

  According to the grasping device, the needle holder, and the attachment according to the present invention, the object and the suture needle are grasped in a narrow space or the like, and the object and the suture needle are efficiently and stably rotated and moved. Can be used industrially.

O11 rotation axis (second axis)
O21 rotation axis (first axis)
10 Needle holder body (gripper body)
10A Front end side 10B Base end side 11 Casing 11A Casing body 11B Grip portion 12 Attachment mounting bracket 12J Rotating support shaft 14 Guide member 20 Attachment (gripping member)
20A attachment (gripping member)
21 sandwiching arm members (a pair of sandwiching arm members)
21L Left holding arm member 21R Right holding arm member 22, 22L, 22R Holding surface (clamping part)
23 Suture Needle Clamping Recess 24 Clamping Arm Support Member 26 Return Spring 28 Engagement Part 28U D-Type Key Receiving Part (First Engagement Part)
28E E-type retaining ring (second engaged part)
30. Clamping arm opening / closing drive part (first drive part)
31 Clamping operation lever (Clamping operation part)
33 First flexible transmission member 34 Guide slide 35 Second flexible transmission member 36 Holding operation lever 36J Rotating shaft portion 37 Connection wheel (holding operation holding mechanism)
37A ratchet claw (holding operation holding mechanism)
38 Clamping operation release lever (Clamping operation release mechanism)
38A ratchet claw (holding operation holding mechanism)
38S Clamping operation release lever biasing spring (Clamping operation holding mechanism)
39 Flexible transmission member 40 Nipping arm rotation drive unit (second drive unit)
41 Rotation operation lever (Rotation operation part)
44 Drive pulley (first rotating member)
45 Rotating pulley (second rotating member)
45D D-cut connection part (first engagement part)
45J Pulley rotation shaft 45U Wire mounting groove 46 Tension pulley 47 Wire (connection member)
100 Needle Holder 100A Gripper 110 Suture Needle (Object)

Claims (9)

A gripper for gripping an object,
A pair of sandwiching arm members formed so as to be capable of relatively approaching or separating can be formed, the sandwiching unit can approach and sandwich an object, and the pair of sandwiching arm members are disposed. A sandwiching arm support member that pivotally supports the pair of sandwiching arm members around a first axis that is formed along the approaching or separating direction, and is fixed to the sandwiching arm support member. The pair of sandwiching arm members is constituted by a first sandwiching arm member and a second sandwiching arm member disposed on the sandwiching arm support member so as to be rotatable around a second axis perpendicular to the first axis, A gripping member that moves around the second axis and opens and closes with the first clamping arm member so that the clamping part approaches or separates;
A gripper body in which the gripping member is disposed on the distal end side, and a grip portion that is held by an operator is formed on the proximal end side;
A sandwiching operation unit that inputs a sandwiching operation of an operator; and a sandwiching operation transmission unit that transmits the sandwiching operation input to the sandwiching operation unit to the sandwiching arm member. A first drive unit that causes the clamping unit to approach or separate by operation;
A rotation operation unit that inputs an operator's rotation operation; and a rotation operation transmission unit that transmits the rotation operation input to the rotation operation unit to the holding arm support member. A second drive unit that rotates the holding arm support member about the first axis by a rotation operation input to the operation unit;
With
The clamping operation transmission unit is
A gripping device comprising a flexible transmission member that can be bent. The gripper according to claim 1,
The rotation operation transmission unit is
A first rotation member disposed on the rotation operation unit side;
A second rotating member disposed on the holding arm support member side;
A connecting member connecting the first rotating member and the second rotating member;
With
A gripper for transmitting the rotation of the first rotation member to the second rotation member. The gripper according to claim 2, wherein
The rotation operation transmission unit is
A gripping device comprising a rotation operation amount conversion mechanism that makes a rotation angle of the second rotation member larger than a rotation angle input to the first rotation member. The gripper according to any one of claims 1 to 3,
The clamping operation unit is
A gripping device, wherein the gripping device is rotatably arranged on a grip portion of the gripping device main body, and is configured to be inserted into the grip portion by an operator holding the grip portion. The gripper according to any one of claims 1 to 4, wherein
A clamping operation holding mechanism that holds the approaching state of the clamping part formed by the clamping operation;
A clamping operation release mechanism for releasing the approaching state of the clamping unit held by the clamping operation holding mechanism;
A gripper comprising: The gripper according to any one of claims 1 to 5,
A first engaging portion formed on the gripper body and detachably connecting the gripping member; and a second engaging portion;
With
The gripping member is
A first engaged portion that engages with the first engaging portion and operates the clamping arm member based on a clamping operation;
A second engaged portion that engages with the second engaging portion and rotates the holding arm member based on a rotation operation;
A gripper comprising:   The needle holder according to any one of claims 1 to 6, wherein a suture needle holding recess corresponding to the suture needle is formed in the holding portion. A pair of clamping arm members, which are attachments used for a gripper for gripping an object, wherein a clamping part that can be relatively approached or separated is formed, and the clamping part approaches and can clamp the object And a pair of sandwiching arm support members for pivotally supporting the pair of sandwiching arm members around a first axis formed along a direction in which the pair of sandwiching arm members are arranged and the sandwiching part approaches or separates, A first sandwiching arm member fixed to the sandwiching arm support member, and a second sandwiching disposed on the sandwiching arm support member so as to be rotatable about a second axis perpendicular to the first axis. The pair of sandwiching arm members are constituted by arm members, and the second sandwiching arm member rotates around the second axis and opens and closes with the first sandwiching arm member so that the sandwiching portion approaches or separates. And the gripping member that,
A first engaged portion and a second engaged portion according to claim 6 ;
An attachment comprising:   9. The attachment according to claim 8, wherein a suture needle clamping recess corresponding to the suture needle is formed in the clamping portion.

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