JP7477368B2 - Surgical instruments - Google Patents

Description

This invention relates to a surgical instrument, and in particular to a surgical instrument equipped with an irrigation tube.

Conventionally, surgical instruments equipped with irrigation tubes are known (see, for example, Patent Document 1).

The above-mentioned Patent Document 1 discloses a surgical instrument equipped with a flush tube (irrigation tube) for passing fluid for the introduction of gas during surgery and for cleaning and sterilization after surgery. In this surgical instrument, the flush tube is guided inside the shaft.

U.S. Pat. No. 8,398,634

In the surgical instrument described in Patent Document 1, the flash tube is guided inside the shaft, so while it is possible to clean the inside of the shaft, there is a problem in that it is difficult to reliably clean the inside of the housing.

This invention provides a surgical instrument that can reliably clean the inside of the housing.

A surgical instrument according to one aspect of the present invention comprises a housing including a shaft, an end effector provided on one end of the shaft, a base arranged on the other end of the shaft and having an attachment surface for a robot arm, a lid portion covering the base, and a cleaning liquid supply hole for supplying a cleaning liquid, and a cleaning tube arranged inside the housing and the shaft for supplying a cleaning liquid to the inside of the shaft, the cleaning liquid supply hole including a first cleaning liquid supply hole to which the cleaning tube is attached, a second cleaning liquid supply hole communicating with the inside of the housing, and a third cleaning liquid supply hole that opens in a direction perpendicular to the opening direction of the second cleaning liquid supply hole and communicates with the inside of the housing , and the first, second and third cleaning liquid supply holes are provided in the housing .

In the surgical instrument according to one aspect of the present invention, as described above, a second cleaning liquid supply hole communicating with the inside of the housing and a third cleaning liquid supply hole opening in a direction substantially perpendicular to the opening direction of the second cleaning liquid supply hole and communicating with the inside of the housing are provided. This allows cleaning liquid to be supplied to the inside of the housing from the second cleaning liquid supply hole and the third cleaning liquid supply hole. As a result, the inside of the housing can be cleaned. Also, unlike the case where only the second cleaning liquid supply hole and the third cleaning liquid supply hole are provided, the second cleaning liquid supply hole and the third cleaning liquid supply hole can supply cleaning liquid in directions substantially perpendicular to each other. As a result, compared to the case where cleaning liquid is supplied only in one direction, it is possible to effectively prevent the occurrence of unwashed areas inside the housing. This makes it possible to provide a surgical instrument that can reliably clean the inside of the housing.

The present invention provides a surgical instrument that can reliably clean the inside of the housing.

FIG. 1 is a schematic diagram of a robotic surgical system according to one embodiment. FIG. 2 is a block diagram showing a control configuration of a robotic surgery system according to one embodiment. FIG. 1 is a perspective view showing a state in which a surgical instrument is attached to a robot arm via an adapter according to one embodiment. FIG. 2 is a perspective view of a base with a lid removed according to one embodiment. FIG. 2 is an exploded perspective view of a lid according to one embodiment. FIG. 2 is a view of a surgical instrument according to one embodiment as viewed from the Z2 direction side. FIG. 1 is a cross-sectional view of a surgical instrument according to one embodiment. FIG. 1 is a first diagram for explaining a cleaning operation of a surgical instrument according to one embodiment. FIG. 2 is a second diagram for explaining the cleaning operation of a surgical instrument according to one embodiment. FIG. 3 is a third diagram for explaining the cleaning operation of a surgical instrument according to one embodiment. 1 is a cross-sectional view showing the vicinity of a manual operation opening of a lid of a surgical instrument according to one embodiment. FIG. 1 illustrates a hand-operated tool according to one embodiment. FIG. 1 illustrates an explanatory panel for a manually operated tool according to one embodiment.

The following describes the embodiment with reference to the drawings.

(Configuration of robotic surgery system)
The configuration of a robotic surgery system 100 according to one embodiment will be described with reference to FIGS. 1 and 2.

As shown in FIG. 1, the robotic surgery system 100 includes a remote control device 10 and a patient-side device 20. The remote control device 10 is provided to remotely control medical equipment provided in the patient-side device 20. When an operation mode command to be executed by the patient-side device 20 is input to the remote control device 10 by an operator O who is a surgeon, the remote control device 10 transmits the operation mode command to the patient-side device 20 via a controller 26. Then, in response to the operation mode command transmitted from the remote control device 10, the patient-side device 20 operates medical instruments such as a surgical instrument 40 and an endoscope 50 attached to the robot arms 21a and 21b. In this way, minimally invasive surgery is performed.

The patient-side device 20 constitutes an interface for performing surgery on the patient P. The patient-side device 20 is placed beside the operating table 30 on which the patient P lies. The patient-side device 20 has multiple robot arms 21a and 21b, of which an endoscope 50 is attached to one robot arm 21b, and a surgical instrument 40 is attached to the other robot arm 21a. Each robot arm 21a and 21b is commonly supported by a platform 23. The multiple robot arms 21a and 21b have multiple joints, and each joint is provided with a drive unit including a servo motor and a position detector such as an encoder. The robot arms 21a and 21b are configured to be controlled by a drive signal given via a controller 26 so that the medical instruments attached to the robot arms 21a and 21b perform the desired operation.

The platform 23 is supported by a positioner 22 placed on the floor of the operating room. The positioner 22 has a column 24 with a vertically adjustable lifting shaft, which is connected to a base 25 equipped with wheels and movable on the floor.

A surgical instrument 40 as a medical instrument is removably attached to the tip of the robot arm 21a. As shown in FIG. 3, the surgical instrument 40 is removably connected to the robot arm 21a of the robotic surgery system 100 via an adapter 60. The surgical instrument 40 includes an end effector 41 and an elongated shaft 42 on one end (Y1 direction side) of which the end effector 41 is provided. Examples of the end effector 41 include, but are not limited to, grasping forceps, scissors, hooks, high-frequency knives, snare wires, clamps, and staplers, and various treatment tools can be applied. In surgery using the patient-side device 20, the robot arm 21a introduces the surgical instrument 40 into the body of the patient P through a cannula (trocar) placed on the body surface of the patient P. The end effector 41 of the surgical instrument 40 is placed near the surgical site.

An endoscope 50 serving as a medical instrument is removably attached to the tip of the robot arm 21b. The endoscope 50 photographs the inside of the body cavity of the patient P, and the photographed images are output to the remote control device 10. As the endoscope 50, a 3D endoscope capable of photographing three-dimensional images or a 2D endoscope is used. In surgery using the patient-side device 20, the robot arm 21b introduces the endoscope 50 into the body of the patient P via a trocar placed on the body surface of the patient P. The endoscope 50 is then positioned near the surgical site.

The remote control device 10 constitutes an interface with the operator O. The remote control device 10 is a device that allows the operator O to operate the medical instruments attached to the robot arms 21a and 21b. That is, the remote control device 10 is configured to be able to transmit operation mode commands to be executed by the surgical instruments 40 and the endoscope 50 input by the operator O to the patient-side device 20 via the controller 26. The remote control device 10 is installed, for example, beside the operating table 30 so that the state of the patient P can be clearly seen while operating the master. Note that the remote control device 10 can also be installed in a room separate from the operating room in which the operating table 30 is installed, by transmitting operation mode commands wirelessly, for example.

The operation mode to be performed by the surgical instrument 40 is the operation (series of positions and postures) of the surgical instrument 40 and the operation mode realized by the individual functions of the surgical instrument 40. For example, if the surgical instrument 40 is a grasping forceps, the operation mode to be performed by the surgical instrument 40 is the roll rotation position and pitch rotation position of the wrist of the end effector 41 and the operation of opening and closing the jaw. If the surgical instrument 40 is a high-frequency knife, the operation mode to be performed by the surgical instrument 40 may be the vibration operation of the high-frequency knife, specifically, the supply of current to the high-frequency knife. If the surgical instrument 40 is a snare wire, the operation mode to be performed by the surgical instrument 40 may be the binding operation and the release operation of the binding state. It may also be the operation of burning off the surgical target site by supplying current to the bipolar or monopolar.

The operational mode to be performed by the endoscope 50 is, for example, the position and orientation of the tip of the endoscope 50, or the setting of the zoom magnification.

As shown in Figures 1 and 2, the remote control device 10 includes an operating handle 11, an operating pedal section 12, a display section 13, and a control device 14.

The operating handles 11 are provided to remotely operate the medical instruments attached to the robot arms 21a and 21b. Specifically, the operating handles 11 receive operation by the operator O to operate the medical instruments (surgical instrument 40, endoscope 50). Two operating handles 11 are provided along the horizontal direction. That is, one of the two operating handles 11 is operated by the right hand of the operator O, and the other of the two operating handles 11 is operated by the left hand of the operator O.

The operating handle 11 is arranged to extend from the rear side of the remote control device 10 toward the front side. The operating handle 11 is configured so that it can be moved within a predetermined three-dimensional operating area. In other words, the operating handle 11 is configured so that it can be moved in the up-down direction, the left-right direction, and the front-back direction.

The remote control device 10 and the patient-side device 20 constitute a master-slave type system in controlling the operation of the robot arms 21a and 21b. That is, the operation handle 11 constitutes the master-side operation section in the master-slave type system, and the robot arms 21a and 21b to which medical instruments are attached constitute the slave-side operation section. Then, when the operator O operates the operation handle 11, the operation of the robot arm 21a or the robot arm 21b is controlled so that the tip of the robot arm 21a (the end effector 41 of the surgical instrument 40) or the tip of the robot arm 21b (the endoscope 50) moves tracing the movement of the operation handle 11.

The patient-side device 20 is also configured to control the operation of the robot arm 21a according to the set operation magnification. For example, when the operation magnification is set to 1/2, the end effector 41 of the surgical instrument 40 is controlled to move a distance that is 1/2 the movement distance of the operating handle 11. This allows delicate surgery to be performed with precision.

The operation pedal section 12 includes a number of pedals for performing functions related to the medical instrument. The pedals include a coagulation pedal, a cutting pedal, a camera pedal, and a clutch pedal. The pedals are operated by the feet of the operator O.

The coagulation pedal can be used to perform an operation to coagulate the surgical site using the surgical instrument 40. Specifically, when the coagulation pedal is operated, a coagulation voltage is applied to the surgical instrument 40, and the surgical site is coagulated. The cutting pedal can be used to perform an operation to cut the surgical site using the surgical instrument 40. Specifically, when the cutting pedal is operated, a cutting voltage is applied to the surgical instrument 40, and the surgical site is cut.

The camera pedal is used to control the position and attitude of the endoscope 50 that captures images inside the body cavity. Specifically, the camera pedal enables operation of the operation handle 11 of the endoscope 50. In other words, while the camera pedal is pressed, the position and attitude of the endoscope 50 can be controlled by the operation handle 11. For example, the endoscope 50 is operated by using both the left and right operation handles 11. Specifically, the endoscope 50 is rotated by rotating the left and right operation handles 11 around the midpoint of the left and right operation handles 11. In addition, the endoscope 50 moves further in by pushing both the left and right operation handles 11 in. In addition, the endoscope 50 moves back toward the user by pulling both the left and right operation handles 11 in. In addition, the endoscope 50 moves up, down, left, and right by moving both the left and right operation handles 11 up, down, left, and right.

The clutch pedal is used to temporarily disconnect the operational connection between the robot arm 21a and the operating handle 11 and stop the operation of the surgical instrument 40. Specifically, while the clutch pedal is being operated, the robot arm 21a of the patient-side device 20 will not move even if the operating handle 11 is operated. For example, when the operating handle 11 is brought near the end of its movable range by operation, the clutch pedal can be operated to temporarily disconnect the operational connection and return the operating handle 11 to near the center position. Then, when the operation of the clutch pedal is stopped, the robot arm 21a and the operating handle 11 are reconnected, and operation of the operating handle 11 can be resumed near the center.

The display unit 13 is capable of displaying images captured by the endoscope 50. The display unit 13 is made up of a scope-type display unit or a non-scope-type display unit. A scope-type display unit is, for example, a type of display unit that you peer into. A non-scope-type display unit is a concept that includes an open-type display unit with a flat screen that is not a type that you peer into, such as the display of a normal personal computer.

When a scope-type display unit is attached, a 3D image captured by an endoscope 50 attached to the robot arm 21b of the patient-side device 20 is displayed. When a non-scope-type display unit is attached, a 3D image captured by an endoscope 50 provided on the patient-side device 20 is also displayed. Note that when a non-scope-type display unit is attached, a 2D image captured by an endoscope 50 provided on the patient-side device 20 may also be displayed.

2, the control device 14 includes, for example, a control unit 141 having a computing unit such as a CPU, a storage unit 142 having memories such as a ROM and a RAM, and an image control unit 143. The control device 14 may be configured with a single control device that performs centralized control, or may be configured with multiple control devices that perform distributed control in cooperation with each other. The control unit 141 determines whether the operation mode command inputted through the operation handle 11 is an operation mode command to be executed by the robot arm 21a or an operation mode command to be executed by the endoscope 50, depending on the switching state of the operation pedal unit 12. Then, when the control unit 141 determines that the operation mode command inputted through the operation handle 11 is an operation mode command to be executed by the surgical instrument 40, it transmits the operation mode command to the robot arm 21a. This drives the robot arm 21a, and the operation of the surgical instrument 40 attached to the robot arm 21a is controlled by this drive.

When the control unit 141 determines that the operation mode command input to the operating handle 11 is an operation mode command to be executed by the endoscope 50, it transmits the operation mode command to the robot arm 21b. This drives the robot arm 21b, and the operation of the endoscope 50 attached to the robot arm 21b is controlled by this drive.

The memory unit 142 stores, for example, a control program corresponding to the type of surgical instrument 40, and the control unit 141 reads out these control programs according to the type of attached surgical instrument 40, so that the operation commands of the operating handle 11 and/or the operating pedal unit 12 of the remote control device 10 can be adapted to operate the individual surgical instrument 40.

The image control unit 143 transmits the image acquired by the endoscope 50 to the display unit 13. The image control unit 143 processes and corrects the image as necessary.

(Adapter and surgical instrument configuration)
The configuration of a surgical instrument 40 according to one embodiment will be described with reference to FIGS.

As shown in FIG. 3, the surgical instrument 40 is attached to the robot arm 21a of the robotic surgery system 100. The robot arm 21a is covered with a drape 70 since it is used in a clean area. Here, in the operating room, a clean operation is performed to prevent the incised part and medical equipment from being contaminated by pathogens or foreign objects. In this clean operation, a clean area and a contaminated area other than the clean area are set. The surgical site is placed in the clean area. During the operation, the members of the surgical team including the operator O take care that only sterilized objects are placed in the clean area, and when an object located in the contaminated area is moved to the clean area, the object is sterilized. Similarly, when the members of the surgical team including the operator O place their hands in the contaminated area, they sterilize the hands before directly contacting the object located in the clean area. The instruments used in the clean area are sterilized or covered with a sterilized drape 70.

The drape 70 is disposed between the robot arm 21a and the surgical instrument 40. Specifically, the drape 70 is disposed between the adapter 60 and the robot arm 21a. The drape 70 is disposed between the robot arm 21b and the endoscope 50. The adapter 60 is attached to the robot arm 21a so as to sandwich the drape 70. In other words, the adapter 60 is a drape adapter for sandwiching the drape 70 between the robot arm 21a and the adapter 60. This allows the drape 70 to be attached using the adapter 60. The surgical instrument 40 is attached to the adapter 60 attached to the robot arm 21a via the drape 70. The robot arm 21a transmits power to the surgical instrument 40 via the adapter 60 to drive the end effector 41 of the surgical instrument 40.

As shown in FIG. 4, the surgical instrument 40 includes an end effector 41 (see FIG. 3), a shaft 42, multiple (four) driven members 43, a housing 44, and a cleaning tube 45.

The multiple driven members 43 are driven to rotate and drive the end effector 41. The driven members 43 are rotatably mounted on a base 44a of the housing 44, which will be described later, around a rotation axis extending in the Z direction. Three of the multiple (four) driven members 43 are connected to the end effector 41 by an elongated element 42a inserted inside the shaft 42. The elongated element 42a is, for example, a wire, a cable, or a rod. The driven members 43 are rotated to pull the elongated element 42a and drive the end effector 41. One of the multiple (four) driven members 43 is connected to the shaft 42 by a shaft drive member 42b (see FIG. 7), which is a gear. The driven members 43 are rotated to rotate the shaft drive member 42b, which rotates the shaft 42 around a rotation axis extending in the Y direction. Of the four driven members 43, two are arranged in the X direction and two are arranged in the Y direction. The multiple driven members 43 are provided inside the housing 44.

The housing 44 includes a base 44a, a lid 44b, and a cleaning liquid supply hole 44c. The base 44a has an attachment surface 441 on the Z2 direction side. The attachment surface 441 is an attachment surface to the robot arm 21a via the adapter 60 of the surgical instrument 40. In addition, a plurality of driven members 43 are rotatably provided on the base 44a. In addition, the base 44a is disposed on the other end side (Y2 direction side) of the shaft 42.

The lid portion 44b is configured to cover the base 44a. Specifically, the lid portion 44b is configured to cover the base 44a from the opposite side (Z1 direction side) of the mounting surface 441 of the base 44a. The lid portion 44b is also configured to be removably attached to the base 44a.

As shown in Figures 4 and 5, the cover 44b includes a first portion 442a and a second portion 442b that can be separated from each other. The first portion 442a is configured to cover substantially the entire base 44a. The second portion 442b is configured to cover the remaining portion of the base 44a that is not covered by the first portion 442a. The first portion 442a also has a cutout portion 442c for positioning the second portion 442b. The cutout portion 442c is provided on the Y2 direction side of the first portion 442a.

As shown in FIG. 4, the cleaning liquid supply hole 44c is provided to supply a cleaning liquid (such as water). Here, in this embodiment, the cleaning liquid supply hole 44c includes a first cleaning liquid supply hole 443a to which the cleaning tube 45 is attached, a second cleaning liquid supply hole 443b that communicates with the inside of the housing 44, and a third cleaning liquid supply hole 443c that opens in a direction (Z direction) approximately perpendicular to the opening direction (Y direction) of the second cleaning liquid supply hole 443b and communicates with the inside of the housing 44.

In this embodiment, as described above, the second cleaning liquid supply hole 443b communicating with the inside of the housing 44 and the third cleaning liquid supply hole 443c opening in a direction substantially perpendicular to the opening direction of the second cleaning liquid supply hole 443b and communicating with the inside of the housing 44 are provided. This allows cleaning liquid to be supplied to the inside of the housing 44 from the second cleaning liquid supply hole 443b and the third cleaning liquid supply hole 443c. As a result, the inside of the housing 44 can be cleaned. Also, unlike the case where only one of the second cleaning liquid supply hole 443b and the third cleaning liquid supply hole 443c is provided, the second cleaning liquid supply hole 443b and the third cleaning liquid supply hole 443c can supply cleaning liquid in directions substantially perpendicular to each other. As a result, compared to the case where cleaning liquid is supplied only in one direction, it is possible to effectively suppress the occurrence of unwashed areas inside the housing 44. This allows the inside of the housing 44 to be reliably cleaned.

As shown in Figures 4, 5 and 7, the first cleaning liquid supply hole 443a is provided so as to open in the axial direction (Y direction) of the shaft 42. The first cleaning liquid supply hole 443a is configured so as to be able to supply cleaning liquid from the outside of the housing 44 to the inside of the cleaning tube 45. Specifically, the first cleaning liquid supply hole 443a is configured so as to be able to supply cleaning liquid to the inside of the cleaning tube 45 in a direction (Y1 direction) toward one end side of the shaft 42 in the axial direction (Y direction) of the shaft 42. In addition, the first cleaning liquid supply hole 443a is configured so as to be able to supply cleaning liquid to the inside of the shaft 42 via the cleaning tube 45.

The first cleaning liquid supply hole 443a is provided in the lid portion 44b of the housing 44. Specifically, the first cleaning liquid supply hole 443a is provided in the second portion 442b of the lid portion 44b. The first cleaning liquid supply hole 443a is provided in the second portion 442b of the lid portion 44b so as to open in the axial direction (Y direction) of the shaft 42. The first cleaning liquid supply hole 443a is provided as a through hole that penetrates the second portion 442b of the lid portion 44b in the axial direction (Y direction) of the shaft 42.

As shown in Figures 4, 5 and 7, the second cleaning liquid supply hole 443b is provided so as to open in the axial direction (Y direction) of the shaft 42. The second cleaning liquid supply hole 443b is configured so as to be able to supply cleaning liquid from the outside of the housing 44 to the inside of the housing 44. Specifically, the second cleaning liquid supply hole 443b is configured so as to be able to supply cleaning liquid to the inside of the housing 44 in a direction (Y1 direction) toward one end side of the shaft 42 in the axial direction (Y direction) of the shaft 42. In addition, the second cleaning liquid supply hole 443b is not attached with a cleaning tube, and is configured so as to be able to supply cleaning liquid directly to the inside of the housing 44 from the opening end of the second cleaning liquid supply hole 443b on the inside side of the housing 44.

The second cleaning liquid supply hole 443b is provided in the lid portion 44b of the housing 44. Specifically, the second cleaning liquid supply hole 443b is provided in the second part 442b of the lid portion 44b. The second cleaning liquid supply hole 443b is provided in the second part 442b of the lid portion 44b so as to open in the axial direction (Y direction) of the shaft 42. The second cleaning liquid supply hole 443b is provided as a through hole that penetrates the second part 442b of the lid portion 44b in the axial direction (Y direction) of the shaft 42. In this embodiment, the first cleaning liquid supply hole 443a and the second cleaning liquid supply hole 443b are both provided in the lid portion 44b of the housing 44. Specifically, the first cleaning liquid supply hole 443a and the second cleaning liquid supply hole 443b are arranged adjacent to each other in the Z direction in the second part 442b of the lid portion 44b.

As shown in FIG. 4, FIG. 6 and FIG. 7, the third cleaning liquid supply hole 443c is provided so as to open in a direction (Z direction) substantially perpendicular to the axial direction (Y direction) of the shaft 42. That is, in this embodiment, the second cleaning liquid supply hole 443b is provided so as to open in the axial direction (Y direction) of the shaft 42, and the third cleaning liquid supply hole 443c is provided so as to open in a direction (Z direction) substantially perpendicular to the axial direction (Y direction) of the shaft 42. As a result, the second cleaning liquid supply hole 443b can supply cleaning liquid in the axial direction (Y direction) of the shaft 42, and the third cleaning liquid supply hole 443c can supply cleaning liquid in the direction (Z direction) substantially perpendicular to the axial direction (Y direction) of the shaft 42. As a result, it is possible to effectively prevent the occurrence of unwashed areas inside the housing 44 in both the axial direction (Y direction) of the shaft 42 and the direction (Z direction) substantially perpendicular to the axial direction (Y direction) of the shaft 42.

The third cleaning liquid supply hole 443c is configured to be able to supply cleaning liquid from the outside of the housing 44 to the inside of the housing 44. Specifically, the third cleaning liquid supply hole 443c is configured to be able to supply cleaning liquid to the inside of the housing 44 in a direction (Z1 direction) toward the inside of the housing 44 that is substantially perpendicular (Z direction) to the axial direction (Y direction) of the shaft 42. In addition, the third cleaning liquid supply hole 443c does not have a cleaning tube attached, and is configured to be able to supply cleaning liquid directly to the inside of the housing 44 from the opening end of the third cleaning liquid supply hole 443c on the inside side of the housing 44.

The third cleaning liquid supply hole 443c is provided in the base 44a. This makes it easier to provide the third cleaning liquid supply hole 443c than when the third cleaning liquid supply hole 443c is provided in the lid portion 44b. Also, compared to when the third cleaning liquid supply hole 443c is provided in the lid portion 44b, which is easily visible from the outside, it is possible to suppress the deterioration of the aesthetic appearance of the housing 44. Specifically, the third cleaning liquid supply hole 443c is provided so as to open in a direction (Z direction) approximately perpendicular to the mounting surface 441 of the base 44a in the mounting surface 441 of the base 44a. This allows the third cleaning liquid supply hole 443c to supply cleaning liquid in a direction (Z direction) approximately perpendicular to the mounting surface 441 of the base 44a. As a result, it is possible to suppress the occurrence of unwashed areas inside the housing 44 in a direction (Z direction) approximately perpendicular to the mounting surface 441 of the base 44a. Furthermore, by providing the third cleaning liquid supply hole 443c in the mounting surface 441, it is possible to prevent the third cleaning liquid supply hole 443c from being exposed to the outside when the surgical instrument 40 is attached to the robot arm 21a. This makes it possible to prevent foreign matter from entering the inside of the housing 44 through the third cleaning liquid supply hole 443c when the surgical instrument 40 is attached to the robot arm 21a. Furthermore, the third cleaning liquid supply hole 443c is provided as a through hole that penetrates the base 44a in a direction (Z direction) that is approximately perpendicular to the axial direction (Y direction) of the shaft 42 and approximately perpendicular to the mounting surface 441.

In addition, in this embodiment, as shown in FIG. 6, the third cleaning liquid supply hole 443c is provided at a position off-center of the base 44a. This makes it possible to suppress dispersion of the cleaning liquid supplied from the third cleaning liquid supply hole 443c, unlike the case where the third cleaning liquid supply hole 443c is provided at the center of the base 44a, and therefore it is possible to generate a flow (relatively large flow) of cleaning liquid toward the opposite side of the position of the third cleaning liquid supply hole 443c off-center from the base 44a. As a result, it is possible to flow cleaning liquid with stronger force inside the housing 44 than when the third cleaning liquid supply hole 443c is provided at the center of the base 44a. This makes it possible to more reliably clean the inside of the housing 44.

Specifically, the third cleaning liquid supply hole 443c is provided at a position offset from the center of the base 44a in the axial direction (Y direction) of the shaft 42. This makes it possible to suppress dispersion of the cleaning liquid supplied from the third cleaning liquid supply hole 443c in the axial direction (Y direction) of the shaft 42, and therefore it is possible to generate a flow of cleaning liquid toward the opposite side of the position offset from the center of the base 44a of the third cleaning liquid supply hole 443c. As a result, it is possible to flow cleaning liquid with high force in the axial direction (Y direction) of the shaft 42. In addition, the third cleaning liquid supply hole 443c is provided at a central position of the base 44a in a direction (X direction) that is approximately perpendicular to the axial direction (Y direction) of the shaft 42 and approximately parallel to the mounting surface 441 of the base 44a.

In addition, in this embodiment, as shown in FIG. 6 and FIG. 7, the third cleaning liquid supply hole 443c is provided on the opposite side (Y2 direction side) of the shaft 42 of the base 44a. As a result, unlike the case where the third cleaning liquid supply hole 443c is provided on the shaft 42 side of the base 44a, the cleaning liquid can be supplied to the inside of the housing 44 from the third cleaning liquid supply hole 443c at a position avoiding the drive structure (shaft drive member 42b) of the shaft 42. As a result, the cleaning liquid can be supplied to the inside of the housing 44 while suppressing the flow of the cleaning liquid from being obstructed due to the drive structure (shaft drive member 42b) of the shaft 42. The third cleaning liquid supply hole 443c is provided at a position offset in the axial direction (Y direction) of the shaft 42 from the drive structure (shaft drive member 42b) of the shaft 42 so as not to face the drive structure (shaft drive member 42b) of the shaft 42 in the Z direction.

In addition, in this embodiment, as shown in FIG. 7, the first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c are arranged in the same plane (YZ plane). This allows the operator performing the cleaning to easily grasp the positional relationship between the first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c. As a result, the cleaning operation of the surgical instrument 40 can be easily performed using the first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c.

Specifically, the first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c are arranged in the same plane (YZ plane) passing through the axis of the shaft 42. This allows the operator performing the cleaning to more easily grasp the positional relationship between the first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c. As a result, the cleaning operation of the surgical instrument 40 using the first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c can be more easily performed.

The first cleaning liquid supply hole 443a and the second cleaning liquid supply hole 443b are provided so as to open in the same direction (axial direction of the shaft 42) in the same plane (YZ plane) passing through the axis of the shaft 42. The first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c are provided so as to open in different directions (directions approximately perpendicular to each other) in the same plane (YZ plane) passing through the axis of the shaft 42. The first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c are provided at the center of the surgical instrument 40 in a direction (X direction) approximately perpendicular to the axial direction (Y direction) of the shaft 42 and approximately parallel to the mounting surface 441 of the base 44a.

In addition, the first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c are provided one each. This makes it easier to clean the surgical instrument using the first cleaning liquid supply hole 443a, the second cleaning liquid supply hole 443b, and the third cleaning liquid supply hole 443c than when multiple first cleaning liquid supply holes 443a, the second cleaning liquid supply holes 443b, and the third cleaning liquid supply holes 443c are provided.

As shown in Figures 4 and 7, the cleaning tube 45 is provided to supply cleaning liquid to the inside of the shaft 42. The cleaning tube 45 is attached to the first cleaning liquid supply hole 443a. The cleaning tube 45 is inserted into the inside of the shaft 42 while attached to the first cleaning liquid supply hole 443a. Although not shown in the figures, the cleaning tube 45 is provided at one end side (Y1 direction side) of the shaft 42 so as to communicate with the inside of the shaft 42.

(Cleaning surgical instruments)
8 to 10, a cleaning operation of the surgical instrument 40 according to one embodiment will be described. The cleaning operation of the surgical instrument 40 is performed after each surgery, for example, to clean away dirt such as blood and flesh particles generated during the surgery. Here, the cleaning operation of the surgical instrument 40 performed manually by an operator will be described.

First, as shown in FIG. 8, an operator uses a cleaning tool such as a syringe filled with cleaning liquid to supply cleaning liquid into the inside of the cleaning tube 45 from the first cleaning liquid supply hole 443a. The cleaning liquid supplied to the inside of the cleaning tube 45 flows inside the cleaning tube 45 in the Y1 direction. The cleaning liquid that has flowed inside the cleaning tube 45 flows into the inside of the shaft 42 at one end side of the shaft 42. The cleaning liquid that has flowed into the inside of the shaft 42 flows inside the shaft 42 in the Y2 direction. The inside of the shaft 42 is cleaned by the cleaning liquid flowing inside the shaft 42. The cleaning liquid that has cleaned the inside of the shaft 42 flows into the housing 44 and flows out of gaps that exist in various places in the housing 44.

Next, as shown in FIG. 9, the operator uses a cleaning tool such as a syringe filled with cleaning liquid to supply cleaning liquid to the inside of the housing 44 through the second cleaning liquid supply hole 443b. The cleaning liquid supplied to the inside of the housing 44 flows into the inside of the housing 44 in the Y1 direction from the open end of the second cleaning liquid supply hole 443b on the inside side of the housing 44. The cleaning liquid that flows into the inside of the housing 44 in the Y1 direction cleans the inside of the housing 44. The cleaning liquid that has cleaned the inside of the housing 44 flows out from gaps that exist in various places in the housing 44.

Next, as shown in FIG. 10, the operator uses a cleaning tool such as a syringe filled with cleaning liquid to supply cleaning liquid to the inside of the housing 44 from the third cleaning liquid supply hole 443c. The cleaning liquid supplied to the inside of the housing 44 flows into the inside of the housing 44 in the Z1 direction from the opening end of the third cleaning liquid supply hole 443c on the inside side of the housing 44. The cleaning liquid that flows into the inside of the housing 44 in the Z1 direction cleans the inside of the housing 44 in a different flow from the cleaning liquid that flows in from the second cleaning liquid supply hole 443b. This makes it possible to reliably clean the inside of the housing 44. The cleaning liquid that has cleaned the inside of the housing 44 flows out from gaps that exist in various places in the housing 44.

(Configuration for manual operation)
4, 5 and 11-13, an arrangement for manual operation of a surgical instrument 40 according to one embodiment will be described.

As shown in Figures 4, 5 and 11, the housing 44 includes a manual operation opening 44d for operating the driven member 43 to operate the end effector 41. A user can insert a manual operation tool 46 into the housing 44 through the manual operation opening 44d, and operate the driven member 43 to open and close the end effector 41. Specifically, the user can open and close the end effector 41 by manually rotating the driven member 43 using the manual operation tool 46 in a state in which an engagement portion 46a (described later) of the manual operation tool 46 is engaged with an engagement portion 43a, which is one end of the driven member 43. The manual operation opening 44d is provided in the first portion 442a of the lid portion 44b.

As shown in FIG. 12, the manual operation tool 46 is an L-shaped wrench member. The manual operation tool 46 has an engagement portion 46a that engages with the engagement portion 43a (see FIG. 11) of the driven member 43. The engagement portion 46a is provided at the tip of the manual operation tool 46. The engagement portion 46a is provided as a recess.

An explanatory plate 47 is connected to the manual operation tool 46 via a connecting member 48 such as a chain. The explanatory plate 47 is made of aluminum sheet metal. The explanation surface 47a of the explanatory plate 47 describes how to use the manual operation tool 46. Specifically, the explanation surface 47a of the explanatory plate 47 is provided with an explanatory text section 47b on which an explanation of how to use the manual operation tool 46 is written, and an explanatory diagram section 47c on which an explanatory diagram of how to use the manual operation tool 46 is written.

Here, the explanation plate 47 made of aluminum sheet metal may corrode when cleaned with an alkaline detergent. Furthermore, if the explanation plate 47 corrodes, there is a problem in that the explanation portion (explanation section 47b and illustration section 47c) disappears.

In this embodiment, as shown in FIG. 13, the explanation plate 47 is coated with a resin film 49 that is resistant to corrosion by alkaline detergent. This makes it possible to prevent the explanation plate 47 from corroding and the explanation portion from disappearing when washed with alkaline detergent. The resin material of the resin film 49 is not particularly limited as long as it is resistant to corrosion by alkaline detergent, but for example, epoxy resin can be used. The resin film 49 is provided so as to coat the entire explanation plate 47 including the explanation surface 47a.

(Modification)
It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

For example, in the above embodiment, an example was shown in which the second cleaning liquid supply hole opens in the axial direction of the shaft, and the third cleaning liquid supply hole opens in a direction approximately perpendicular to the axial direction of the shaft, but the present invention is not limited to this. In the present invention, as long as the second cleaning liquid supply hole and the third cleaning liquid supply hole open in directions approximately perpendicular to each other, the second cleaning liquid supply hole does not have to open in the axial direction of the shaft, and the third cleaning liquid supply hole does not have to open in a direction approximately perpendicular to the axial direction of the shaft.

In the above embodiment, the third cleaning liquid supply hole is provided in the base of the housing, but the present invention is not limited to this. In the present invention, the third supply liquid supply hole may be provided in the lid of the housing.

In the above embodiment, an example was shown in which the third cleaning liquid supply hole is provided at a position offset from the center of the base, but the present invention is not limited to this. In the present invention, the third cleaning liquid supply hole may be provided at the center of the base.

In the above embodiment, the third cleaning liquid supply hole is provided at a position offset from the center of the base in the axial direction of the shaft, but the present invention is not limited to this. In the present invention, the third cleaning liquid supply hole may be provided at a position offset from the center of the base not only in the axial direction of the shaft, but also in a direction substantially perpendicular to the axial direction of the shaft and substantially parallel to the mounting surface of the base.

In the above embodiment, the third cleaning liquid supply hole is provided on the side of the base opposite the shaft, but the present invention is not limited to this. In the present invention, the third cleaning liquid supply hole may be provided on the shaft side of the base.

In the above embodiment, the first cleaning liquid supply hole, the second cleaning liquid supply hole, and the third cleaning liquid supply hole are arranged in the same plane, but the present invention is not limited to this. In the present invention, the first cleaning liquid supply hole, the second cleaning liquid supply hole, and the third cleaning liquid supply hole do not have to be arranged in the same plane. In this case, the first cleaning liquid supply hole, the second cleaning liquid supply hole, and the third cleaning liquid supply hole do not all have to be arranged in the same plane. Also, any two of the first cleaning liquid supply hole, the second cleaning liquid supply hole, and the third cleaning liquid supply hole may be arranged in the same plane, while the remaining one may not be arranged in the same plane as the other two.

In the above embodiment, an example was shown in which one each of the first cleaning liquid supply hole, the second cleaning liquid supply hole, and the third cleaning liquid supply hole was provided, but the present invention is not limited to this. In the present invention, at least one of the first cleaning liquid supply hole, the second cleaning liquid supply hole, and the third cleaning liquid supply hole may be provided in multiples. For example, one first cleaning liquid supply hole may be provided, and multiple second cleaning liquid supply holes and multiple third cleaning liquid supply holes may be provided. Also, for example, one first cleaning liquid supply hole and one second cleaning liquid supply hole may be provided, and multiple third cleaning liquid supply holes may be provided.

In the above embodiment, the first cleaning liquid supply hole is open in the axial direction of the shaft, but the present invention is not limited to this. In the present invention, the first cleaning liquid supply hole may be open in a direction other than the axial direction of the shaft. For example, the first cleaning liquid supply hole may be open in a direction approximately perpendicular to the axial direction of the shaft.

In the above embodiment, an example was shown in which the lid portion includes a first portion and a second portion that can be separated from each other, but the present invention is not limited to this. In the present invention, the lid portion may be made of only a single member. In other words, the lid portion may have a non-separable structure.

In addition, in the above embodiment, an example in which four driven members are provided is shown, but the present invention is not limited to this. In the present invention, a number of driven members other than four may be provided.

In the above embodiment, the explanation plate is made of aluminum, but the present invention is not limited to this. In the present invention, the explanation plate may be made of a metal other than aluminum. Even if the explanation plate is made of a metal other than aluminum, if it is corroded by alkaline detergent, the resin film coating of the above embodiment is effective.

21a: Robot arm, 40: Surgical instrument, 41: End effector, 42: Shaft, 44: Housing, 44a: Base, 44b: Lid, 44c: Cleaning liquid supply hole, 45: Cleaning tube, 441: Mounting surface, 443a: First cleaning liquid supply hole, 443b: Second cleaning liquid supply hole, 443c: Third cleaning liquid supply hole

Claims (10)

A shaft,
An end effector provided on one end side of the shaft;
a housing including a base disposed on the other end side of the shaft and having a mounting surface for a robot arm, a lid portion for covering the base, and a cleaning liquid supply hole for supplying a cleaning liquid;
a cleaning tube disposed inside the housing and the shaft for supplying a cleaning liquid to the inside of the shaft;
the cleaning liquid supply hole includes a first cleaning liquid supply hole to which the cleaning tube is attached, a second cleaning liquid supply hole communicating with an interior of the housing, and a third cleaning liquid supply hole opening in a direction perpendicular to an opening direction of the second cleaning liquid supply hole and communicating with the interior of the housing ;
The first, second and third cleaning fluid supply holes are provided in the housing . the second cleaning liquid supply hole is provided so as to open in an axial direction of the shaft,
The surgical instrument according to claim 1 , wherein the third cleaning liquid supply hole is provided so as to open in a direction perpendicular to an axial direction of the shaft. The surgical instrument according to claim 2, wherein the third cleaning fluid supply hole is provided in the base. The surgical instrument according to claim 3 , wherein the third cleaning liquid supply hole is provided in a mounting surface of the base to the robot arm so as to open in a direction perpendicular to the mounting surface of the base to the robot arm. The surgical instrument according to claim 4, wherein the third cleaning fluid supply hole is provided at a position offset from the center of the base. The surgical instrument according to claim 5, wherein the third cleaning fluid supply hole is provided at a position offset from the center of the base in the axial direction of the shaft. The surgical instrument according to claim 5 or 6, wherein the third cleaning fluid supply hole is provided on the opposite side of the base from the shaft. The surgical instrument according to any one of claims 1 to 7, wherein the first cleaning liquid supply hole, the second cleaning liquid supply hole, and the third cleaning liquid supply hole are arranged in the same plane that is parallel to the axial direction of the shaft and perpendicular to a mounting surface of the base to the robot arm . The surgical instrument according to claim 8, wherein the first cleaning fluid supply hole, the second cleaning fluid supply hole, and the third cleaning fluid supply hole are arranged in the same plane passing through the axis of the shaft. The surgical instrument according to any one of claims 1 to 9, wherein the first cleaning liquid supply hole, the second cleaning liquid supply hole, and the third cleaning liquid supply hole are provided one each.

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