JPH08164141A - Treating tool - Google Patents

Treating tool

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Publication number
JPH08164141A
JPH08164141A JP30882794A JP30882794A JPH08164141A JP H08164141 A JPH08164141 A JP H08164141A JP 30882794 A JP30882794 A JP 30882794A JP 30882794 A JP30882794 A JP 30882794A JP H08164141 A JPH08164141 A JP H08164141A
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JP
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Patent type
Prior art keywords
treatment instrument
portion
operation
forceps
curved
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
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JP30882794A
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Japanese (ja)
Inventor
Akihiro Horii
Hitoshi Mizuno
章弘 堀井
均 水野
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Olympus Optical Co Ltd
オリンパス光学工業株式会社
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Abstract

PURPOSE: To provide a treating tool provided with highly rigid and free curva ture and capable of surely transmitting the operational feeling of an operating part. CONSTITUTION: This tool comprises a forceps 5, an insertion part 4 provided with a curvature part 2 to insert the forceps 5 into a body cavity, and the operating part 3 which drives the forceps 5, and a connection member which connects the operating part 3 to the forceps 5 is constituted of a flexible outer easing 17 and an inner cable 18 movable in an axial direction in the inside of the outer casing 17.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【産業上の利用分野】この発明は、内視鏡下外科手術に用いられる処置具に関する。 BACKGROUND OF THE INVENTION This invention relates to a treatment instrument for use in endoscopic surgery.

【0002】 [0002]

【従来の技術】近年、胆のう摘出、虫垂切除、大腸切除等の手術が内視鏡を用いることにより低侵襲に行われるようになった。 In recent years, cholecystectomy, appendectomy, now surgery colectomy or the like is performed in a minimally invasive by using an endoscope. この術式は一般に内視鏡下外科手術と呼ばれ、トラカールと呼ばれる案内管を腹腔等の体腔内に刺入し、このトラカールをガイドとして光学視管や処置具を体腔内に挿入し、処置を行うものである。 The surgical procedure is generally referred to as endoscopic surgery, puncture the guide tube called a trocar into a body cavity of the abdominal cavity or the like, the telescope and the treatment instrument is inserted into the body cavity of the trocar as a guide, treatment and it performs.

【0003】前記処置具は、挿入部の先端側に処置部を有し、手元側に操作部を有した構造であるが、挿入部の先端部の湾曲を可変させることができるものとして、例えばUSP5254130が知られている。 [0003] as the treatment instrument includes a treatment portion at the distal end side of the insertion portion, but a structure in which an operation portion on the proximal side, which can vary the curvature of the distal end of the insertion portion, for example, USP5254130 is known. これはあらかじめ湾曲形状を記憶させた超弾性チューブを固定された外筒管に出入りさせることで、湾曲を可変する方法である。 This is be out of the outer cylinder tube which is fixed a superelastic tube having stored pre-curved shape, a method of varying the curvature. また、前記USP5254130には、超弾性チューブの外側に回転用のチューブを設けることで、処置具の先端部を回転する方法が開示されている。 Further, the USP5254130, by providing the tube for rotation on the outside of the superelastic tube, a method of rotating the distal portion of the treatment instrument is disclosed. さらに、 further,
EPO557806A2には関節構造をリンク構造を用いて湾曲させる方法が開示されている。 The method of bending with the link structure joint structure is disclosed in EPO557806A2.

【0004】また、処置具マニピュレータを遠隔的に操作して手術する手術装置が、USP5217003、特願平5−285206に開示されている。 Further, the surgical apparatus for surgery by operating the treatment instrument manipulator remotely, USP5217003, disclosed in Japanese Patent Application No. 5-285206. この手術装置の構成は、手術処置機能を持った処置用マニピュレータと、この処置用マニピュレータを遠隔位置から操作するための情報入力手段、あるいは遠隔操作手段から構成されている。 The configuration of the surgical device is composed of a treatment for a manipulator having a surgical treatment function, information input means for operating the treatment manipulator from a remote location or remote control means.

【0005】処置具の先端部を湾曲および回転させ、体腔内での処置性を向上させる方法が前記USP5254 [0005] is bent and rotated the distal end portion of the treatment instrument, a method for improving the treatment of in the body cavity is the USP5254
130に開示されている。 It is disclosed in the 130. また、体腔外に第2の湾曲部を用いて体腔外の操作性を向上させる方法が文献「In Further, a method of improving the body cavity outside the operability using the second curved portion outside the body cavity literature "In
strments forEndoscopic Su strments forEndoscopic Su
rgery」に示されている。 It has been shown to rgery ". また、体腔内に複数の湾曲手段を設け、処置性を向上させる方法が、特願平3− Further, a plurality of curved section into the body cavity, a method for improving the treatment properties, Japanese Patent Application No. 3
339591に開示されている。 It is disclosed in 339,591.

【0006】さらに、従来、内視鏡などの体腔内医療器具の湾曲手段として、複数の節輪を連結した湾曲管構造が用いられており、これは特願平5−29452に開示されている。 Furthermore, conventionally, as a bending means of in-vivo medical devices such as endoscopes, bending tube structure formed by coupling a plurality of articulation wheels have been used, which is disclosed in Japanese Patent Application No. 5-29452 . この特願平5−29452には超弾性合金に切り欠きを多数設けることにより、一体の部材で製造可能な湾曲構造が開示されている。 By providing a large number of notches in the superelastic alloy in the Japanese Patent Application No. 5-29452, there is disclosed capable curved configuration manufactured in an integral member.

【0007】また、内視鏡下外科手術を遠隔的に操作するための遠隔操作手段として、複数関節の握り装置からなる医療用のマスターマニピュレータが、特願平6−1 Further, as a remote control means for operating the endoscopic surgical operation remotely, master manipulator for medical use consisting of gripping device of a plurality joints, Hei 6-1
28648に開示されている。 It is disclosed in 28,648. さらに、ワイヤを用いた3次元的な位置の入力装置がUSP5305429に開示されている。 Further, the input device of the three-dimensional position using the wire is disclosed in USP5305429.

【0008】 [0008]

【発明が解決しようとする課題】しかしながら、前述した従来技術は次のような問題がある。 [SUMMARY OF THE INVENTION However, the prior art described above has the following problems. まず、USP52 First of all, USP52
54130は、処置具の先端部の湾曲を可変させるために、あらかじめ湾曲形状を記憶させた超弾性チューブを固定された外筒管に出入りさせているため、超弾性チユーブと外筒管の摩擦のために、処置具操作中に湾曲を自在に可変させることは困難である。 54130 is the treatment instrument bending of the distal end portion in order to vary, since the by out of the super-elastic tube having stored pre-curved shape to the fixed outer cylinder tube, friction superelastic Chiyubu and the outer cylinder tube for, it is difficult to freely varied curvature during treatment instrument operation. また、操作に必要な剛性を超弾性チューブに持たせるためには、外筒管による抑制によって発生する応力が大きくなり超弾性チューブの寿命は著しく短くなってしまい長期使用が困難である。 Further, in order to provide necessary rigidity for manipulation superelastic tube, the life of the superelastic tube stresses caused by suppression by the outer cylinder tube is increased is significantly shortened by cause long-term use difficult.

【0009】それに対して湾曲に関節構造を用いたEP [0009] EP using the joint structure in curved with respect to it
0557806A2の例では、高剛性を保ちながら自在に湾曲させることが可能であるが、先端処置具を駆動するためのワイヤの経路が不確定であり、そのため処置具を開く力によって剥離を行おうとしても、ワイヤが座屈し、力が伝達されない。 As in the example of 0557806A2, but can be curved freely while maintaining high rigidity, a path is uncertain of the wire for driving the distal end treatment instrument, attempting to peel by the force opening the treatment instrument for its also, the wire buckles, the force is not transmitted. 処置具を閉じる場合にも、ワイヤのたるみにより直接的な操作感が伝達されない。 To close the treatment instrument is also a direct operational feeling is not transmitted by the slack of the wire.

【0010】また、前記USP5254130では、超弾性チューブの外側に回転部材を設けることにより、先端処置具の回転を行っている。 [0010] In the USP5254130, by providing a rotary member on the outside of the superelastic tube, it is performed rotation of the distal end treatment instrument. しかし、独立した回転部材のために、処置具の外径が大きくなってしまう。 However, for independent rotation member, the outer diameter of the treatment instrument becomes large.

【0011】特願平5−285206に開示されている処置用マニピュレータは、先端部の湾曲および処置具の開閉を動力によって実現している。 [0011] Treatment manipulator disclosed in Japanese Patent Application No. 5-285206 is realized by the power-off of curvature and treatment tool tip. このような動力処置具では、駆動部の駆動量と処置部の開閉量の関係が一意的である。 In such a power treatment instrument opening and closing of the relationship of the treatment section and the driving amount of the driving unit is unique. すなわちガタやゆるみの無い伝達構造が必要となる。 That no transmission structure looseness or slackness is required. しかし、駆動部と処置部の間に可動の湾曲部を有する伝達構造では、ガタやゆるみの無い構造を実現することが困難であった。 However, the transmission structure having a curved portion of the movable during treatment portion and the driving portion, it is difficult to realize a structure having no looseness Gataya.

【0012】前記USP5254130に示されるような湾曲処置具を用いることによって、先端部が湾曲していない場合に比較して体腔内で対象へのアプローチの自由度が高くなる。 [0012] By using a curved treatment instrument as shown in the USP5254130, freedom of approach to the target is increased within the body cavity as compared to the case where the tip portion is not bent. しかし、体腔外では直線状であるため、他の処置具や、観察用硬性鏡などと干渉する可能性がある。 However, in the body cavity outside is straight, the other or treatment instrument, can interfere with such observation rigid endoscope. そこで文献「Instrments forE So literature "Instrments forE
ndoscopic Surgery」に体外に第2の湾曲部を設ける技術が示されているが、本文献のようなボールジョイントによる湾曲構造では処置具の開閉や先端部の回転を行うための伝達構造を実現することが困難である。 Ndoscopic Surgery "technique of providing a second bending portion of the body are shown in, but a curved structure by ball joints, as in the present document to realize the transmission structure for the rotation of the opening and closing the distal end portion of the treatment instrument it is difficult.

【0013】さらに、特願平5−29452に開示されている、複数の節輪を連結した湾曲管構造では、湾曲管内部の内蔵物の形状や硬さ、湾曲管と内蔵物との摩擦力などによって湾曲形状が一定しないため、先端部の微妙な位置決めが難しく、湾曲操作性が悪いという不具合が生じている。 Furthermore, disclosed in Japanese Patent Application No. 5-29452, in the bending tube structure formed by coupling a plurality of articulation wheels, the shape and hardness of the internals of the curved pipe section, the frictional force between the bent tube and internals since no predetermined curved shape or the like, it is difficult to delicate positioning of the tip portion, it has arisen a problem that poor bending operability.

【0014】また特願平5−29452に示されている、超弾性合金に切り欠きを多数設けることにより、一体の部材で製造可能な湾曲構造では、安価に製作できる利点がある。 Further shown in Japanese Patent Application No. 5-29452, by providing a large number of notches in the superelastic alloy, the curved configuration which can be manufactured in an integral member, there is an advantage that can be manufactured at a low cost. しかし、切り欠き部に応力集中が発生するため、寿命が短く、また2箇所の繋ぎ目のみで力を受けるため湾曲部の剛性が低いという欠点がある。 However, in order to generate stress concentration in the notch portion, there is a drawback that the life is short and the rigidity of the curved portion for receiving a force only joint of two places lower.

【0015】特願平6−128648に開示されている、内視鏡下外科手術を遠隔的に操作するための医療用のマスターマニピュレータは、複数の関節から成り立っているために、術者の身体と干渉し、自由な操作を妨げたり、関節を構成する部材の重量のために機敏な操作を入力することが困難である。 The master manipulator of the medical for operating disclosed in Japanese Patent Application No. 6-128648, the endoscopic surgical operation remotely, to which consists of a plurality of joints, the operator's body interfere with, or hinder the free operation, it is difficult to enter the agile operation for the weight of the members constituting the joint. また、力を操作者にフィードバックするためには、関節に駆動源を設ける必要があり、全体の構造が大きく、複雑になる。 Further, in order to feed back a force to the operator, it is necessary to provide a driving source to the joint, the overall structure is large, complicated.

【0016】それに対し、USP5305429に開示されている3次元的な位置の入力装置では、糸によって3次元的な位置検出を行っているため、重量が軽く、機敏な操作に追従する。 [0016] In contrast, in the input device of three-dimensional position disclosed in USP5305429 is, because a three-dimensional position detected by the yarn, the weight is light, to follow the agile operation. また、力覚を提示する場合にも、 In addition, even in the case of presenting the force,
全体の構造が大きく、複雑になることがない。 Increased overall structure, it does not become complicated. しかしながら、内視鏡下外科手術においては操作者は術者であり、従来の手術機器と同様の操作性であることが重要である。 However, the operator in endoscopic surgical operation is the operator, it is important that the same operability and conventional surgical instruments.

【0017】この発明は、前述した諸々の事情に着目してなされたもので、その目的とするところは、高剛性と自在な湾曲を実現しながら、処置具開閉の駆動力を確実に伝達し、先端処置具からの直接的な操作感を伝達することができ、操作性に優れた処置具を提供することにある。 [0017] The present invention has been made in view of the various circumstances described above, it is an object while providing a bendable and high rigidity, and reliably transmit the driving force of the treatment instrument opening and closing can be transmitted direct feel of the distal end treatment instrument is to provide a superior treatment instrument operability.

【0018】 [0018]

【課題を解決するための手段】この発明は、前記目的を達成するために、先端処置具と、この先端処置具を体腔内に挿入するための湾曲部を有する挿入部と、前記先端処置具を駆動させる操作部と、この操作部と前記先端処置具とを連結する連結部材とを有する処置具において、 Means for Solving the Problems] The present invention, in order to achieve the object, the distal end treatment instrument, the insertion portion of the tip treatment instrument having a curved portion for insertion into a body cavity, the distal end treatment instrument an operation unit for driving the, in the treatment instrument and a coupling member for connecting the distal end treatment instrument and the operation unit,
前記連結部材は、フレキシブルな外部材と、この外部材の内部で軸方向に移動可能な内部材とで構成されたことを特徴とする。 The connecting member includes a flexible outer member, characterized in that it consists of a internally axially movable internal member of the outer member.

【0019】 [0019]

【作用】操作部を操作することにより、湾曲ワイヤが軸方向に移動して湾曲手段としての湾曲管が湾曲して湾曲部が湾曲する。 [Action] By operating the operation portion, the bending portion bending wire is bent curved tube as bending means moves in the axial direction is curved. また、操作部の回転操作リングを回転すると、その回転力は外部材としてのアウターケーシングを介して伝達されて先端処置具としての鉗子の全体が回転する。 Further, when rotating the rotating operation ring operating unit, the rotational force is the entire forceps as being transmitted tip treatment instrument through the outer casing of the outer member rotates. さらに、操作部の操作握り及び操作ハンドルを開閉することにより、内部材としてのインナーケーブルがアウターケーシングに対して進退し、鉗子が開閉する。 Moreover, by opening and closing operation gripping and operating handle of the operation section, the inner cable as the inner member moves back and forth relative to the outer casing, the forceps are opened and closed.

【0020】 [0020]

【実施例】以下、この発明の各実施例を図面に基づいて説明する。 BRIEF DESCRIPTION based on each embodiment of the invention with reference to the accompanying drawings. 図1〜図4は第1の実施例を示し、図1は処置具の斜視図、図2は処置具の縦断側面図、図3はアウターケーシングとインナーケーブルの構成図、図4は処置具の作用説明図である。 1 to 4 show a first embodiment, FIG. 1 is a perspective view of the treatment instrument, Fig. 2 is a vertical sectional side view of the treatment instrument, Fig. 3 is a structural view of the outer casing and inner cable, FIG. 4 is a treatment instrument it is an explanatory diagram of the operation of. 処置具は、先端に設けられた先端処置具1、この処置具1を位置決めする湾曲部2、 The treatment instrument, the tip treatment tool 1 provided at the distal end, the curved portion 2 for positioning the treatment tool 1,
先端処置具1と湾曲部2を操作する操作部3および操作部3と湾曲部2を接続する挿入部4とから構成されている。 And a insertion portion 4 that connects the operation portion 3 and the operation unit 3 to operate the distal end treatment instrument 1 and the curved portion 2 a curved portion 2.

【0021】前記処置具1は枢支ピン5aを支点として回動自在な一対の鉗子片5bによって鉗子5が構成されており、一対の鉗子片5bの基端部は連結ピン6aを介してリンク6に連結されている。 [0021] The instrument 1 is configured forceps 5 by rotatable pair of forceps pieces 5b the pivot pin 5a as a fulcrum, the proximal end portion of the pair of forceps pieces 5b via the connecting pin 6a link It is connected to the 6. 鉗子5およびリンク6 Forceps 5 and link 6
は鉗子回転シャフト7に開閉自在に支持されており、この鉗子回転シャフト7の中央には鉗子回転シャフト7に対して進退自在で、リンク6を進退させて鉗子5を開閉する開閉ロッド8が設けられている。 Is openably supported on the forceps rotation shaft 7, this is the center of the forceps rotation shaft 7 is movable back and forth relative to the forceps rotation shaft 7, the opening and closing rod 8 for opening and closing the forceps 5 by advancing and retracting the link 6 It is.

【0022】前記湾曲部2は、多数の湾曲駒9が関節状に接続された湾曲管10と、前記鉗子回転シャフト7を湾曲管10に回転自在に固定する鉗子支持部11とから構成されている。 [0022] The curved portion 2, a bending tube 10 a number of bending pieces 9 are connected in articulated, consists forceps support portion 11 for rotatably fixing the forceps rotation shaft 7 to the bending tube 10 there. 湾曲管10の内側には湾曲ワイヤ1 Inside the bending tube 10 is bent wire 1
2、13が挿通されており、この一端は湾曲管10の端部に固定され、他端は挿入パイプ14の内部を挿通し、 2,13 are inserted, the one end of which is fixed to the end of the bending tube 10 and the other end inserted through the inside of the insertion pipe 14,
この挿入パイプ14に対して回転可能に固定された湾曲操作ノブ15に固定されている。 It is fixed to rotatably fixed bending operation knob 15 with respect to the insertion pipe 14. 湾曲管10の操作部3 Operation unit 3 of the bending tube 10
側端部は、挿入パイプ14に固定されており、挿入パイプ14は操作握り16に固定されている。 Side end portion is fixed to the insertion pipe 14, the insertion pipe 14 is fixed to the operation grip 16.

【0023】前記湾曲部2の内腔には、管状のフレキシブルな外装部材であるアウターケーシング17が設けられ、更にその内部にはフレキシブルな棒状の内装部材であるインナーケーブル18が設けられている。 [0023] into the lumen of the bending portion 2 is provided with a outer casing 17 is a flexible outer tubular member, and the inner cable 18 is provided a decorated member of flexible rod-shaped further therein. アウターケーシング17は、湾曲管10およびインナーケーブル18に対して回転自在であり、インナーケーブル18はアウターケーシング17に対して進退自在である。 Outer casing 17 is rotatable with respect to the bending tube 10 and the inner cable 18, inner cable 18 is movable back and forth relative to the outer casing 17. アウターケーシング17の先端処置具1側端部は、鉗子回転シャフト7に固定されており、操作部3側端部は中空の回転伝達軸19に固定されている。 Tip treatment tool 1 side end portion of the outer casing 17 is fixed to the forceps rotation shaft 7, the operation unit 3 side end portion is fixed to the hollow of the rotation transmission shaft 19.

【0024】前記回転伝達軸19は挿入パイプ14に対して回転自在な回転操作リング20に固定されている。 [0024] The rotation transmission shaft 19 is fixed to the rotatable rotating the operating ring 20 with respect to the insertion pipe 14.
インナーケーブル18の先端処置具1側端部は開閉ロッド8に固定され、操作部3側端部には挿入パイプ14に挿通された直動ロッド21に固定されている。 Tip treatment tool 1 side end portion of the inner cable 18 is fixed to the opening and closing rod 8, the operation portion 3 side end portion is fixed to the linear rods 21 inserted through the insertion pipe 14. 直動ロッド21は、操作握り16に対して支点を中心に回動可能な操作ハンドル22に固定されている。 Direct acting rod 21 is fixed to the rotatable operating handle 22 about the fulcrum to the operation grip 16.

【0025】前記アウターケーシング17とインナーケーブル18について説明を加えると、図3に示すように構成されている。 [0025] The addition of explanation for said outer casing 17 and the inner cable 18 is configured as shown in FIG. すなわち、アウターケーシング17 In other words, the outer casing 17
は、ステンレス製の平角スプリング23およびこの平角スプリング23の外側に設けられたステンレス製のブレード24と、それらの外側に施されたフッ素樹脂による樹脂コーティング25より構成されている。 Includes a stainless steel blade 24 provided outside of the stainless steel flat spring 23 and the flat spring 23, are formed of a resin coating 25 by fluorine resin that has been subjected to their outer. インナーケーブル18は、ステンレス製の芯線26と、その周囲によられた芯線26よりも細いステンレス製の側線27とから構成されている。 Inner cable 18 includes a stainless steel core wire 26, and a thin stainless steel side wire 27. than core wire 26 twisted around it.

【0026】インナーケーブル18は、芯線26と側線27によるより線構造を取ることで、フレキシブルに湾曲することが可能である。 The inner cable 18, by taking the line structure than with the core wire 26 and the side wire 27, it is possible to bend the flexible. 前記鉗子5を閉じようとした場合に発生するインナーケーブル18を伸長する力に関しては、より線が密に寄り合うことで伸長を防止し、鉗子5を開こうとする場合に発生する、インナーケーブル18を圧縮する力に関しては、中心の太い芯線26によって座屈を防止する。 For the force to stretch the inner cable 18 that occur when an attempt to close the forceps 5, to prevent extension by more lines densely Yoriau that occurs when you try to open the forceps 5, inner cable for the force to compress the 18, to prevent buckling by the thick core 26 centered.

【0027】アウターケーシング17は平角スプリング23、ブレード24、樹脂コーティング25によるフレキシブルな構造により湾曲が可能である。 The outer casing 17 is flat spring 23, the blades 24 are possible bent by a flexible structure by resin coating 25. 鉗子5を閉じようとした場合に発生するアウターケーシング17を圧縮する力に関しては、平角スプリング23が密着することで座屈を防止する。 For the force to compress the outer casing 17 that occur when trying to close the forceps 5, to prevent buckling by flat spring 23 comes into close contact. 鉗子5を開こうとする場合に発生する、アウターケーシング17を伸長する力に関しては、平角スプリング23の収縮力とブレード24および樹脂コーティング25によって伸びを抑制する。 It occurs when you try to open the forceps 5, with respect to the force to stretch the outer casing 17, to suppress the elongation by the contraction force and the blades 24 and the resin coating 25 of the rectangular spring 23. また、 Also,
回転力は、主としてブレード24と樹脂コーティング2 Rotational force is mainly blade 24 and the resin coating 2
5により左右両回転とも伝達される。 Both left and right rotation is transmitted by 5.

【0028】次に、前述のように構成された処置具の作用について説明する。 [0028] Next, the operation of the configured treatment instrument as described above. 操作部3の湾曲操作ノブ15を操作することにより、湾曲ワイヤ12、13が軸方向に差動的に動作して湾曲管10が湾曲し、湾曲部2が湾曲する。 By operating the bending operation knob 15 of the operation portion 3, the deflection wire 12 and 13 differentially curved tube 10 is curved operates axially curved portion 2 is curved. また、回転操作リング20を回転すると、その回転力は回転伝達軸19、アウターケーシング17、鉗子回転シャフト7と伝達されて鉗子5の全体が回転する。 Further, when rotating the rotating operation ring 20, the rotational force is rotation transmitting shaft 19, the outer casing 17, the entire forceps 5 are transmitted forceps rotating shaft 7 rotates. さらに、操作握り16及び操作ハンドル22を開閉することにより、直動ロッド21が回転伝達軸19に対して進退し、インナーケーブル18がアウターケーシング17 Moreover, by opening and closing operation grip 16 and the operating handle 22, the linear motion rod 21 moves back and forth relative to the rotation transmitting shaft 19, inner cable 18 outer casing 17
に対して進退し、開閉ロッド8が鉗子回転シャフト7に対して進退して鉗子5が開閉する。 Forward and backward relative to the opening and closing rod 8 is opened and closed forceps 5 moves forward and backward relative to the forceps rotation shaft 7.

【0029】したがって、図4に示すように湾曲部2の湾曲時に鉗子5を生体組織Aの剥離のために開こうとした場合、図4(a)に示すように直動ロッド21を先端側へ押そうとする力によって、インナーケーブル18に撓もうとする力が働くが、図4(b)に示すように、インナーケーブル18がアウターケーシング17により拘束されているために、鉗子5を開く力が先端に確実に伝達される。 [0029] Therefore, when the forceps 5 during the bending of the bending portion 2 as shown in FIG. 4 attempts to open for the release of the biological tissue A, the distal end side of the linear rod 21, as shown in FIG. 4 (a) the force to be to push into, a force to be to deflect the inner cable 18, but as shown in FIG. 4 (b), to the inner cable 18 is restrained by the outer casing 17, open the forceps 5 force is reliably transmitted to the distal end.

【0030】また、インナーケーブル18が、アウターケーシング17により拘束されているために湾曲部2の湾曲による経路の長さ変化がなく、湾曲している場合としない場合で同じ操作感で鉗子5の開閉操作を行うことができる。 Further, the inner cable 18, there is no length change of the path due to the curvature of the curved portion 2 to which is bound by the outer casing 17, the forceps 5 in the same operation feeling when and when not curved it is possible to perform the opening and closing operation.

【0031】また、湾曲部2による湾曲とアウターケーシング17による回転を同時に行えるため、鉗子5に縫合針を保持して行う縫合などの複雑な操作を行うことが容易になる。 Further, since that allows the rotation by bending the outer casing 17 by the curved portion 2 simultaneously, it becomes easy to perform complex operations, such as sewing performed by holding the suture needle forceps 5. さらに、湾曲部2を関節を有する構造によっているため、操作力が小さく、繰り返しの使用に対して耐久性が高い。 Moreover, since the by a curved portion 2 a structure having a joint, small operating force, has high durability against repeated use.

【0032】図5は第2の実施例を示し、アウターケーシング17およびインナーケーブル18の他の実施例である。 [0032] Figure 5 shows a second embodiment, which is another embodiment of the outer casing 17 and inner wire 18. 図5(a)〜(c)はアウターケーシング17の構成で、図5(d)(e)はインナーケーブル18の構成である。 Figure 5 (a) ~ (c) in the configuration of the outer casing 17, FIG. 5 (d) (e) is the construction of the inner cable 18.

【0033】(a)に示すアウターケーシング17は、 The outer casing 17 shown in (a) is,
平角スプリング28とその外側に施されたフッ素樹脂による樹脂コーティング29により構成されている。 It is constituted by a resin coating 29 by fluorine resin flat spring 28 and is subjected on its outside. そして、圧縮力は平角スプリング28で受け、伸長力は樹脂コーティング29で受けるようになっている。 Then, the compression force is received by the flat spring 28, stretching force is adapted to receive a resin coating 29.

【0034】(b)に示すアウターケーシング17は、 The outer casing 17 shown in (b) is,
一層多条巻きのスプリング30で構成されている。 It is constituted by a spring 30 a more multi-strip winding. そして、圧縮力および引張り力に対しては、スプリング30 Then, the compression force and tensile force, the spring 30
自身の剛性で受ける。 Receive in their own rigidity. 回転力はスプリング30が締まる方向に対して伝達されるが、緩む方向の回転伝達力は比較的小さい。 The rotational force is transmitted to the direction in which the spring 30 is tightened, rotation transmitting force in the direction of loosening is relatively small.

【0035】(c)に示すアウターケーシング17は、 The outer casing 17 shown in (c) is,
多層多条巻きのスプリング31で構成されている。 It is composed of a spring 31 of the multi-layer multi-strip wound. スプリング31の巻き方向を層ごとに変えることにより、左右両方向の力の伝達を可能にしている。 By changing the winding direction of the spring 31 for each layer, and enables the transmission of both the left and right directions of force.

【0036】(d)に示すインナーケーブル18は、芯線32と側線33よりなる、より線で構成されている。 The inner cable 18 shown in (d) is composed of the core wire 32 and the lateral line 33, and a twisted.
この構成によれば、座屈への耐力が小さいが湾曲性が良いという特徴がある。 According to this configuration, it is characterized in that it is less strength to buckling good curling properties.

【0037】(e)に示すインナーケーブル18は、芯線34及び巻き線35で構成されている。 The inner cable 18 shown in (e) is composed of a core 34 and winding 35. 座屈力に対しては、巻き線34が受けるという構造になっている。 For buckling force, it has a structure that the winding 34 receives. 図6および図7は第3の実施例を示し、湾曲部2に構造として湾曲管10の代わりに3節のリンク湾曲部40により構成したものであり、第1の実施例と同一構成部分は同一番号を付して説明を省略する。 6 and 7 show a third embodiment, which is constituted by three section links bend 40 in place of the bending tube 10 in the curved portion 2 a structure, the same components as those of the first embodiment its description is omitted with the same numbers.

【0038】図6は処置具の斜視図、図7はリンク湾曲部40の構造を示す。 [0038] FIG. 6 is a perspective view of the treatment instrument, Fig. 7 shows the structure of a link bend 40. このリンク湾曲部40は、第1リンク41と第2リンク42とは左右対称的に配置され円環状をなしている。 The link curved portion 40, the first link 41 and second link 42 forms a left-right symmetrically arranged annularly. 第1リンク41の端部と第2リンク42の中心は、リンク湾曲部40の両端に固定されている。 End and the center of the second link 42 of the first link 41 is fixed to both ends of the link bend 40. 第1リンク41と第2リンク42にはそれぞれ湾曲ワイヤ43、44が連結されており、湾曲ワイヤ43、 A first link 41, respectively the deflection wire 43 is coupled to the second link 42, the deflection wire 43,
44の移動量に対して線形な湾曲形状が得られる。 Linear curved shape is obtained for the movement of 44.

【0039】図8は第4の実施例を示し、第3の実施例の第1リンク41と第2リンク42の内側に、円環状に配置した第3リンク45および第4リンク46を用いても同様に構成できる。 [0039] Figure 8 shows a fourth embodiment, a first link 41 of the third embodiment on the inner side of the second link 42, with the third link 45 and fourth link 46 arranged annularly It can also be configured in the same manner.

【0040】第3および第4の実施例によれば、第1の実施例の効果に加えて、湾曲形状が外力や湾曲部2の内蔵物の影響を受けず湾曲ワイヤ43、44の移動量によって一意的に定まるという効果がある。 According to the third and fourth embodiments, in addition to the effects of the first embodiment, the amount of movement of the deflection wire 43, 44 a curved shape is not affected by the external force or internal of the curved portion 2 there is an effect that is uniquely determined by. また、本構造は、処置具の湾曲部のみならず、内視鏡などの体腔内で用いる医療機器に広く用いることができることは自明である。 The present structure not only bending portion of the treatment instrument, it is obvious that can be widely used in medical devices used in the body cavity such as an endoscope.

【0041】図9は第5実施例を示す。 [0041] Figure 9 shows a fifth embodiment. 第1の実施例における湾曲管10の代わりに、薄肉円筒体50の周壁を部分的に欠如した、伸縮可能な伸縮部47および可倒可能な可倒部48によって湾曲コマ49を連接した多段湾曲管50aを構成したものである。 Instead of bending tube 10 in the first embodiment, lacking the peripheral wall of the thin cylinder body 50 partially multistage curvature continuously connected with bending piece 49 by extendable telescopic part 47 and a retractable possible variable 倒部 48 it is obtained by constituting the tube 50a. 可倒部48は、その両端部に2つの弧状の切り欠きを設けた2つの脆弱部5 Yes 倒部 48, two fragile portions 5 provided outs two arcuate cut at its opposite ends
1により構成されている。 It is constituted by 1.

【0042】それぞれの湾曲コマ49は、可倒部48を支点として可倒する。 [0042] Each of the bending pieces 49, allowed a soluble 倒部 48 as a fulcrum Taosuru. 可倒による変形は脆弱部51に集中するが、脆弱部51は弧状の切り欠き形状であるため、応力集中による破壊を防いでいる。 While deformation due foldable concentrated on fragile part 51, since fragile portion 51 is arcuate notch shape, thereby preventing destruction due to stress concentration. また、可倒部4 In addition, mosquitoes 倒部 4
8を2つの脆弱部51から実現しているために、一つの脆弱部51当たりの変形量が小さい。 8 because it is realized by two weak portions 51, the deformation amount per one weak portion 51 is small. 伸縮部47は、その両端部に4つの弧状の切り欠きを設けた4つの脆弱部51よりなっている。 Stretch unit 47 is made of four fragile part 51 provided with four arcuate notches at its opposite ends. 伸縮部47は、可倒部48と同様の脆弱部51を関節とするリンク構造を形成しているため、軸方向に伸縮可能な構造となっている。 Stretch unit 47 is adapted a similar weak portion 51 and the variable 倒部 48 for forming a link structure to a joint, a telescopic structure in the axial direction.

【0043】また、脆弱部51は弾性を有するため、リンク構造全体として伸縮方向に対しばね性を持っており、外力が加わらないときは、多段湾曲管50aが元の形状に戻るという性質を持っている。 [0043] Further, since weak portion 51 having elasticity, has a spring property to stretch direction as a whole link structure, when an external force is not applied, has the property of multi-stage bending tube 50a returns to its original shape ing. 可倒部48と伸縮部47はそれぞれ対向しており、それぞれの段ごとに可倒部48と伸縮部47の配置を入れ換えることによって、上下左右2自由度に湾曲することが可能になる。 Are respectively the elastic portion 47 facing the variable 倒部 48, by replacing the arrangement of the collapsible portion 47 and the variable 倒部 48 for each stage, it is possible to bend vertically and horizontally two degrees of freedom.

【0044】本実施例によれば、第1の実施例の効果に加えて、湾曲構造を一体成型や、一体加工により製造することができ、従来に比して低いコストで製造できるという効果を持つ。 In accordance with the present embodiment, in addition to the effects of the first embodiment, and integrally molding a curved configuration, the effect of integral processing makes it possible to produce, can be produced at lower cost than the conventional with. また、湾曲コマ49の接続部を可倒部48と伸縮部47の4箇所で結合しているため、湾曲構造全体の剛性が高い。 Further, since the bonded connection of the bending piece 49 at four points of the collapsible portion 47 and the variable 倒部 48, rigidity of the entire curved structures is high. また、切り欠き部を設けることで湾曲を実現しているにも拘らず、応力集中しにくい構造を取ることで、高寿命を実現している。 Moreover, despite being realized bent by providing the cutout portion, by taking a stress concentration occurs hardly realizes a long life. また、本構造は、処置具の湾曲部のみならず、内視鏡などの体腔内で用いる医療機器に広く用いることができることは自明である。 The present structure not only bending portion of the treatment instrument, it is obvious that can be widely used in medical devices used in the body cavity such as an endoscope.

【0045】図10および図11は第6の実施例を示し、第1の実施例と同一構成部分は同一番号を付して説明を省略する。 [0045] Figures 10 and 11 show a sixth embodiment, the same components as those of the first embodiment will be omitted with denoted by the same numbers. 本実施例の処置具は、第1の実施例の構成に加え、挿入部4の操作部3側に更にもう一つの第2 Treatment instrument of this embodiment, in addition to the configuration of the first embodiment, the insertion portion 4 of the operating unit 3 Yet another toward the second
の湾曲部52を設けている。 It is provided with a curved portion 52 of the. 第2の湾曲部52は、通常は形状を保つが外力によって湾曲形状が変更可能な中空のベローズ53と、このベローズ53の内側に第1の実施例と同様のアウターケーシング54とインナーケーブル55が設けられている。 The second bending section 52 is usually a bellows 53 of the hollow curved shape is changeable by an external force but maintain a shape, the outer casing 54 and the inner cable 55 inside the same manner as in the first embodiment of the bellows 53 It is provided.

【0046】アウターケーシング54は、回転操作リング20に固定された第1の回転伝達軸56と、第1の湾曲部2のアウターケーシング17に固定されている第2 The outer casing 54 is rotating operation ring and the first rotation transmitting shaft 56 which is fixed to 20, the second fixed to the first curved portion 2 of the outer casing 17
の回転伝達軸57とを接続している。 It connects the rotation transmitting shaft 57. インナーケーブル55は、操作ハンドル22に固定された第1の直動ロッド58と、第1の湾曲部2のインナーケーブル18に固定されている第2の直動ロッド59とを接続している。 Inner cable 55 is connected to the first linear motion rod 58 fixed to the operating handle 22, and a second linear rod 59 is fixed to the first curved portion 2 of the inner cable 18.

【0047】本実施例では、第2の湾曲部52として半固定のものを用いているが、第1の実施例と同様の可動の湾曲部を用いることも可能である。 [0047] In this embodiment, although used as semi-fixed as the second bending portion 52, it is also possible to use a curved portion of the same movable in the first embodiment. したがって、回転操作リング20を回転させると、その回転力が第1の回転伝達軸56、アウターケーシング54、第2の回転伝達軸57によって伝達され、鉗子5を回転させることができる。 Therefore, when the rotary operation ring 20, it is possible that the rotational force is first rotation transmitting shaft 56, the outer casing 54, is transmitted by the second rotary transmission shaft 57, rotates the forceps 5. 操作ハンドル22を開閉すると、第1の直動ロッド58、インナーケーブル55、第2の直動ロッド5 Opening and closing the operating handle 22, the first linear rod 58, the inner cable 55, a second linear rod 5
9によって伝達される鉗子5を開閉させることができる。 It can be opened and closed forceps 5 transmitted by 9.

【0048】本実施例によれば、第1の実施例に示された効果に加え、内視鏡外科手術では、図11に示されるように、皮膚60に筒状のトラカール61を挿入し、トラカール61をガイドとして処置具としての鉗子62を挿入する。 [0048] According to this embodiment, in addition to the indicated effects in the first embodiment, the endoscopic surgical operation, as shown in FIG. 11, by inserting a tubular trocar 61 to the skin 60, the trocar 61 inserts the forceps 62 as treatment instrument as a guide. 手術時には、複数の鉗子63や観察用の内視鏡64が複数のトラカール61から挿入される。 During surgery, the endoscope 64 for a plurality of forceps 63 and observations are inserted a plurality of trocar 61. このような状況で体外に第2の湾曲部52を持つことにより、 By having a second bending portion 52 of the body in such a situation,
術者の操作が行いやすくなり、また鉗子62の方向を変えるために体表に新たに操作用の孔を開ける必要が減少すると考えられる。 The operation of the operator is easy to carry out, also new need to open a hole for the operation is believed to decrease the body in order to change the direction of the forceps 62.

【0049】図12〜図14は第7の実施例を示す。 [0049] FIGS. 12 to 14 show the seventh embodiment. 本実施例は、図12に示すように、術者が操作する操作入力装置65、モータコントロールユニット66および処置用マニピュレータ67を備えている。 This embodiment, as shown in FIG. 12, the operation input device 65 by an operator to operate, and a motor control unit 66 and treatment manipulator 67. 操作入力装置6 The operation input device 6
5は術者の手68の位置、姿勢、把持の情報を読取り、 5 reads the position of the operator's hand 68, the attitude, the information of the grip,
この情報に基づきモータコントロールユニット66は、 Motor control unit 66 on the basis of this information,
位置、姿勢情報に基づき、処置用マニピュレータ67を制御させることができる。 Position, based on the posture information, it is possible to control the treatment manipulator 67. 処置用マニピュレータ67の先端部は手術台69上に固定された患者70の体内に挿入されたトラカール71を挿通されており、患部の処置を行うことができる。 The distal end portion of the treatment manipulator 67 is inserted through the trocar 71 inserted into the patient 70 which is fixed on the operating table 69, it can be the treatment of the diseased. 処置用マニピュレータ67は、円筒座標系に基づいて動作する3自由度のロボットアーム72および上下および回転の2自由度を持つ自在関節7 Action manipulator 67, freely with two degrees of freedom of three degrees of freedom of the robot arm 72 and the vertical and rotational operating based on a cylindrical coordinate system joints 7
3と、先端部を動作させる挿入部74および挿入部74 3, the insertion portion 74 and the insertion portion 74 to operate the tip portion
を回転させるホルダ75とから構成されている。 And a holder 75 for rotating the.

【0050】前記操作入力装置65は、図13に示すように、立方体形状の枠体76の角部頂点の部分に、それぞれプーリ77が配置され、それぞれのプーリ77にはワイヤ78が掛けられている。 [0050] The operation input device 65, as shown in FIG. 13, the corner portion of the apex of the frame body 76 of cubic shape, is a pulley 77 respectively disposed, each of the pulleys 77 wire 78 is multiplied there. 6本のワイヤ78は対角面を形成する3本ずつのグループ79、80に分けられ、それぞれのグループ79,80は棒状の操作部81 Six wires 78 are divided into groups 79, 80 of each three to form a diagonal surface, each group 79, 80 bar-shaped operating portion 81
の2ヶ所の近傍のフランジ部82、83に取り付けられている。 It is attached to the flange portions 82 and 83 in the vicinity of the two locations. 操作部81の終端には把持用のハンドル84が取り付けられている。 The end of the operating portion 81 a handle 84 is attached for gripping. それぞれのワイヤ78の終端にはモータ85とエンコーダ86が取り付けられ、ワイヤ7 Motor 85 and the encoder 86 at the end of each wire 78 is attached, the wire 7
8の引き込み量を計測すると同時に、ワイヤ78に自由に張力を与えられるようになっている。 Simultaneously measuring the pull-in amount of 8, they are free to become tensioned wire 78.

【0051】前記ハンドル84には把持力を測定する力センサ87が設けられている。 The force sensor 87 for measuring the gripping force is provided to the handle 84. エンコーダ86の出力より求められるそれぞれのワイヤ78の長さから操作部8 Operation unit 8 from the length of each wire 78 obtained from the output of the encoder 86
1の3次元位置と姿勢が求まる。 1 of the three-dimensional position and orientation is obtained. それぞれのワイヤ78 Each wire 78
の張力を可変することで操作部81には反力が伝達される。 The the tension on the operation unit 81 by varying the reaction force is transmitted. モータ85の代わりにばねを用いても、位置・姿勢入力装置として用いることができる。 Even using a spring instead of the motor 85 can be used as the position and orientation input device. 力センサ87の代わりに把持用ハンドル84の開閉角度を検出するエンコーダを設けても、操作入力とすることができる。 Be provided an encoder for detecting the opening angle of the gripping handle 84 in place of the force sensor 87 may be an operation input.

【0052】図14は処置具の構成を示す。 [0052] Figure 14 shows the configuration of the treatment instrument. 挿入部90 The insertion portion 90
は、鉗子を有する先端部91と湾曲部92および駆動部93とから構成されている。 It is composed of the distal end portion 91 and the bending portion 92 and the driving unit 93 having a forceps. 湾曲部92は、上下・左右2自由度に湾曲する湾曲管94とこの湾曲管94を操作する上下用、左右用それぞれ対向する2本ずつ2組の操作ワイヤ95、96および第1の実施例と同様のアウターケーシング97およびインナーケーブル98とから構成されている。 The curved portion 92, vertical motion, two by two pairs of operation wires 95, 96 and the first embodiment, respectively for the right and left opposite to operate the bending tube 94 Toko bending tube 94 to bend in the vertical and horizontal two degrees of freedom and a similar outer casing 97 and an inner cable 98 Metropolitan and.

【0053】アウターケーシング97は鉗子支持部99 [0053] The outer casing 97 is the forceps support portion 99
および駆動部93の挿入パイプ100に固定され、インナーケーブル98は、鉗子開閉ロッド101および駆動部93の直動ロッド102に固定されている。 And is fixed to the insertion pipe 100 of the drive unit 93, inner cable 98 is fixed to the linear rod 102 of the forceps closing rod 101 and the drive unit 93. 操作ワイヤ95、96は、モータ103、エンコーダ104およびボールネジ105とプーリ106により構成される直動アクチュエータ107のボールネジナット108に接続固定されている。 Operation wires 95 and 96, the motor 103 is connected and fixed to the ball screw nut 108 configured linear actuator 107 by the encoder 104 and a ball screw 105 and a pulley 106. 直動ロッド102も、同様のモータ103、エンコーダ104およびボールネジ105により構成される直動アクチュエータ107のボールネジナット108に接続固定されている。 Direct acting rod 102, the same motor 103, fixedly connected to the ball screw nut 108 configured linear actuator 107 by the encoder 104 and a ball screw 105.

【0054】したがって、術者は、操作入力装置65を操作し、処置用マニピュレータ67を動作させて患者7 [0054] Thus, the operator operates the operation input device 65, to operate the treatment for the manipulator 67 patients 7
0の処置を行う。 Perform the procedure of 0. 操作入力装置65により得られた術者の手68の位置・姿勢・把持状態の情報は、コントロールユニット66に入力され、ロボットアーム72の操作量、ホルダ73の挿入部74の回転量、挿入部74の湾曲部92の湾曲量および鉗子109の開閉角度に変換される。 Position and orientation and information of the grasping state of the operation input device operator's hand 68 obtained by 65 is input to the control unit 66, the operation of the robot arm 72, the rotation amount of the insertion portion 74 of the holder 73, the insertion portion bending amount of the bending portion 92 of 74 and is converted into the opening angle of the forceps 109. 駆動部93では、モータ103の回転によりボールネジナット108が進退し、その進退に応じて操作ワイヤ95、96が差動的に駆動され、湾曲部92が上下左右に湾曲する。 In the drive unit 93, the ball screw nut 108 moves back and forth by the rotation of the motor 103, the operation wires 95, 96 in response to the advance and retreat are differentially driven, the curved portion 92 is bent vertically and horizontally. また、同様に直動ロッド102もモータ103の回転により進退し、鉗子開閉ロッド101を介して鉗子109が開閉する。 Similarly, direct acting rod 102 forward and backward by the rotation of the motor 103, the forceps 109 through the forceps opening and closing rod 101 is opened and closed.

【0055】本実施例では、湾曲部92の前後における直動ロッド102と鉗子開閉ロッド101の動作を、アウターケーシング97とインナーケーブル98を用いることにより一致させ、モータ103とエンコーダ104 [0055] In this embodiment, the operation of the linear rod 102 and the forceps opening and closing rod 101 before and after the curved portion 92, are matched by using the outer casing 97 and the inner cable 98, the motor 103 and the encoder 104
により高精度の鉗子109の開閉の制御を可能とし、その結果、高度なマスタースレーブ制御による鉗子109 It possible to control the opening and closing of the precision of the forceps 109, the forceps 109 according to a result, sophisticated master-slave control
の遠隔操作を可能にしている。 Which enables the remote operation.

【0056】前述した実施態様によれば、次の構成が得られる。 [0056] According to the above-described embodiment, the following configuration is obtained. (付記1)先端処置具と、この先端処置具を体腔内に挿入するための湾曲部を有する挿入部と、前記先端処置具を駆動させる操作部と、この操作部と前記先端処置具とを連結する連結部材とを有する処置具において、前記連結部材は、フレキシブルな外装部材と、この外装部材の内部で軸方向に移動可能な内装部材とで構成されたことを特徴とする処置具。 And (Supplementary Note 1) distal end treatment instrument, the distal end treatment instrument insertion portion having a curved portion for insertion into a body cavity, an operation portion for driving the tip treatment instrument, and this operation section the distal end treatment instrument in the treatment instrument and a connecting member connecting said connecting member is flexible and the package member, the treatment tool, characterized in that it is constituted by the inside axially movable decoration member of the exterior member. (付記2)先端処置具と、この先端処置具を体腔内に挿入するための湾曲部を有する挿入部と、前記先端処置具を駆動させる操作部と、この操作部と前記先端処置具とを連結する連結部材とを有する処置具において、独立した湾曲可能な複数の湾曲手段を有する前記湾曲部と、フレキシブルな外装部材とこの外装部材の内部で軸方向に移動可能な内装部材とで構成された前記連結部材しを具備したことを特徴とする処置具。 And (Supplementary Note 2) distal end treatment instrument, the distal end treatment instrument insertion portion having a curved portion for insertion into a body cavity, an operation portion for driving the tip treatment instrument, and this operation section the distal end treatment instrument in the treatment instrument and a connecting member connecting, it consists of said curved portion having a separate plurality of curved means capable curved, the flexible outer member and internally axially movable decoration member of the outer member treatment instrument characterized by comprising the connecting member Mr.. (付記3)前記外装部材が、湾曲部に対して回転することにより前記先端処置具を回転させ、かつ内装部材が軸方向に進退運動することにより前記先端処置具を開閉することを特徴とする付記1または2記載の処置具。 (Supplementary Note 3) The outer member rotates the distal end treatment instrument by rotating about a flexure, and the interior member is characterized in that opening and closing the distal end treatment instrument by advancing and retracting movement in the axial direction Appendix 1 or 2 treatment instrument according. (付記4)前記内装部材が、湾曲部に対して回転または軸方向に進退運動することにより前記先端処置具を回転または開閉することを特徴とする付記1または2記載の処置具。 (Supplementary Note 4) The interior member, the treatment tool according to Note 1 or 2, wherein the rotating or opening and closing said distal end treatment instrument by forward and backward movement in the rotational or axial direction relative to the curved portion. (付記5)前記外装部材は、円筒状の弾性金属バネで形成されていることを特徴とする付記1記載の処置具。 (Supplementary Note 5) the outer member, Appendix 1 treatment instrument, wherein the formed of a cylindrical elastic metal spring. (付記6)前記外装部材は、円筒状の弾性金属バネおよび樹脂層とで形成されていることを特徴とする付記1記載の処置具。 (Supplementary Note 6) the outer member, the treatment tool according to Note 1, wherein the formed with a cylindrical resilient metal spring and a resin layer. (付記7)前記外装部材は、円筒状の弾性金属バネ、金属ブレートおよび樹脂層で形成されていることを特徴とする付記1記載の処置具。 (Supplementary Note 7) the outer member, the treatment tool according to Note 1, wherein the formed cylindrical resilient metal spring, a metal Bureto and the resin layer. (付記8)前記外装部材は、多条巻き金属コイルバネを有することを特徴とする付記1記載の処置具。 (Supplementary Note 8) the outer member, the treatment tool according to Note 1, wherein it has a multi-strip wound metal coil spring. (付記9)前記内装部材は、より線ワイヤを有することを特徴とする付記1記載の処置具。 (Supplementary Note 9) The interior member, the treatment tool according to Note 1, wherein it has a more linear wire. (付記10)前記内装部材は、芯材とより線とからなり、芯材の径がより線の径より太いことを特徴とする付記1記載の処置具。 (Supplementary Note 10) The interior member is composed of a twisted core material, the treatment instrument according to Note 1, wherein the thicker than the diameter of the strands is the diameter of the core material. (付記11)前記湾曲手段の湾曲量がワイヤの張力により可変されることを特徴とする付記1記載の処置具。 (Supplementary Note 11) treatment instrument Supplementary Note 1, wherein the amount of curvature, characterized in that it is varied by the tension of the wire of the bending means. (付記12)前記湾曲手段がモータによって駆動されることを特徴とする付記1記載の処置具。 (Supplementary Note 12) treatment instrument Supplementary Note 1, wherein said curved section is characterized in that it is driven by a motor. (付記13)先端処置具がモータによって駆動されることを特徴とする付記1記載の処置具。 (Supplementary Note 13) treatment instrument Supplementary Note 1, wherein the distal end treatment instrument is driven by a motor. (付記14)先端処置具と、この先端処置具を体腔内に挿入するための湾曲部を有する挿入部と、前記先端処置具を駆動させる操作部と、この操作部と前記先端処置具とを連結する連結部材とを有する処置具において、前記湾曲部は、複数の円筒状コマからなり、隣り合うコマが2箇所以上の支持部と、少なくとも1つの伸縮部を具備することを特徴とする処置具。 And (Supplementary Note 14) distal end treatment instrument, the distal end treatment instrument insertion portion having a curved portion for insertion into a body cavity, an operation portion for driving the tip treatment instrument, and this operation section the distal end treatment instrument in the treatment instrument and a connecting member connecting said curved portion includes a plurality of cylindrical frame, to the frame are two or more positions of the support portions adjacent, characterized in that it comprises at least one extendable portion treatments ingredients. (付記15)先端処置具と、この先端処置具を体腔内に挿入するための挿入部と、前記先端処置具を駆動させる操作部と、この操作部の操作と離れた場所で制御を行う操作制御手段とを有する操作制御入力装置において、前記操作制御手段は、6本以上のワイヤと、各々の前記ワイヤに接続されたワイヤ牽引手段と、ワイヤの移動量を検出するワイヤ移動量検出手段とから構成されていることを特徴とする操作制御入力装置。 (Supplementary Note 15) and distal end treatment instrument, operation of performing the distal end treatment instrument insertion portion for insertion into a body cavity, an operation portion for driving the distal end treatment instrument, a control operation and remote location of the operating unit in operation control input and a control means, said operation control means, and more six wires, and each of said wire to the wire connected to traction means, a wire moving amount detecting means for detecting the amount of movement of the wire It is composed from the operation control input and wherein the. (付記16)独立して可動な複数の湾曲構造を有し、その湾曲構造の少なくとも一つが、湾曲手段と、その内側にフレキシブルな外装部材と、この外装部材に対して進退するフレキシブルな内装部材とからなり、この内装部材の進退に応じて先端処置具を駆動する駆動部とから構成したことを特徴とする処置具。 It has a (Supplementary Note 16) independently movable plurality of curved configuration, at least one of the curved structure, a bending unit, and a flexible outer member on its inside, flexible interior member movable toward and away from the exterior member It consists of a treatment instrument, characterized by being configured and a drive unit for driving the distal end treatment instrument in accordance with the advance and retreat of the interior member. (付記17)前記外装部材は、湾曲手段に対して回転自在であり、前記外装部材の回転により先端処置具を回転させることを特徴とする付記14記載の処置具。 (Supplementary Note 17) the outer member is rotatable relative to the curved section, the treatment instrument according to Note 14, wherein the rotating the distal end treatment instrument by the rotation of the outer member. (付記18)前記湾曲部は、複数の湾曲コマからなり、 (Supplementary Note 18) the curved portion comprises a plurality of bending pieces,
少なくとも3節を有するリンクを湾曲コマの中に含むことを特徴とする付記14記載の処置具。 The treatment instrument according to Note 14, wherein in that it comprises in the bending pieces links having at least 3 Section. (付記19)前記湾曲部は、少なくとも3節を有するリンクを構成する湾曲コマが円環状をなす付記14記載の処置具。 (Supplementary Note 19) the curved portion, the treatment instrument according to Note 14, wherein forming the bending pieces is an annular constituting a link having at least 3 Section. (付記20)前記湾曲部は、複数の湾曲コマからなり、 (Supplementary Note 20) the curved portion comprises a plurality of bending pieces,
それぞれの湾曲コマが湾曲コマと一体の部材からなる2 2, each of the bending pieces are made of bending pieces and integral member
つ以上の脆弱部からなる関節部と、3つ以上の脆弱部からなる伸縮部によって接続されていることを特徴とする付記14記載の処置具。 One or more of the joints made of fragile portion, three or more treatment instrument Supplementary Note 14, wherein it is connected by stretchable portion consisting fragile portion. (付記21)前記湾曲部は、脆弱部の両端部に弧状の切り込みを有することを特徴とする付記20記載の処置具。 (Supplementary Note 21) the curved portion, the treatment instrument according to Note 20, wherein the having the notch in the arc at both ends of the fragile portion.

【0057】前述した付記1、3〜11によれば、先端部に、高剛性で自在な湾曲を有し、また手元操作部の操作感覚を処置具に確実に伝達し、また先端処置具の回転を実現することで、内視鏡下外科手術用処置具の操作性を向上させることができる。 [0057] According to Note 1,3~11 described above, the tip portion has a bendable at high rigidity, also reliably transmitted to the treatment instrument operation feeling of the operation portion, and the tip treatment instrument by realizing the rotation, it is possible to improve the operability of the endoscopic surgical treatment instrument.

【0058】付記12,13によれば、処置部に駆動力を伝達することで、動力を用いた精密な処置を実現する。 [0058] According to Note 12, by transmitting a driving force to the treatment unit, to achieve a precise treatment with power. 付記2によれば、第2の湾曲部を持つ処置具を実現することで、内視鏡下外科手術用処置具の操作性を向上させることができる。 According to Note 2, to realize a treatment instrument having a second curved portion, thereby improving the operability of the endoscopic surgical treatment instrument.

【0059】付記14〜16によれば、外力や内蔵物の摩擦によって影響を受けない、操作量に対して線形な湾曲形状を得ることで、処置具先端の位置決めを精密に行える。 [0059] According to Note 14 to 16, not affected by the friction force and the contained, to obtain a linear curved shape with respect to the operation amount, precisely perform the positioning of the treatment instrument distal end. 付記17〜21によれば、剛性が高くて、寿命の長い湾曲構造を安価に製造できる。 According to Note 17-21, higher rigidity can be manufactured at low cost long curved structure lifetime.

【0060】 [0060]

【発明の効果】以上説明したように、この発明によれば、高剛性で自在な湾曲を有し、また操作部の操作感覚を処置具に確実に伝達し、また先端処置具の回転を実現することで、内視鏡下外科手術用処置具の操作性を向上させることができるという効果がある。 As described in the foregoing, according to the present invention, having a freely curved rigid and reliably transmitted to the treatment instrument operation feeling of the operation unit, also realize the rotation of the distal end treatment instrument by, there is an effect that it is possible to improve the operability of the endoscopic surgical treatment instrument.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】この発明の第1の実施例を示す処置具の斜視図。 1 is a perspective view of a treatment instrument showing a first embodiment of the present invention.

【図2】同実施例の処置具の縦断側面図。 Figure 2 is a longitudinal side view of the treatment instrument of the embodiment.

【図3】同実施例のアウターケーシングとインナーケーブルの構成図。 Figure 3 is a configuration diagram of the outer casing and inner cable of the embodiment.

【図4】同実施例の作用説明図。 [4] view illustrating the operation of the embodiment.

【図5】この発明の第2の実施例のアウターケーシングとインナーケーブルの構成図。 Figure 5 is a configuration diagram of the outer casing and the inner cable of the second embodiment of the present invention.

【図6】この発明の第3の実施例を示す処置具の斜視図。 6 is a perspective view of the treatment instrument showing a third embodiment of the present invention.

【図7】同実施例の湾曲部の構成図。 Figure 7 is a configuration diagram of a bending portion of the embodiment.

【図8】この発明の第4の実施例の湾曲部の構成図。 Figure 8 is a configuration diagram of a bending portion of the fourth embodiment of the present invention.

【図9】この発明の第5の実施例の湾曲部の構成図。 Figure 9 is a configuration diagram of a bending portion of a fifth embodiment of the present invention.

【図10】この発明の第6の実施例の処置具の斜視図および第2の湾曲部の内部構成を示す構成図。 [10] Sixth diagram showing an internal configuration of a perspective view of the treatment instrument and the second curved portion of the embodiment of the present invention.

【図11】同実施例の作用説明図。 [11] view illustrating the operation of the embodiment.

【図12】この発明の第7の実施例の操作制御入力装置の構成図。 Figure 12 is a configuration diagram of an operation control input device according to the seventh embodiment of the present invention.

【図13】同実施例の操作入力装置の構成図。 Figure 13 is a configuration diagram of the operation input device of the embodiment.

【図14】同実施例の処置具の内部構造を示す斜視図。 Figure 14 is a perspective view showing the internal structure of the treatment instrument of the embodiment.

【符号の説明】 DESCRIPTION OF SYMBOLS

1…処置部、2…湾曲部、3…操作部、4…挿入部、5 1 ... treatment portion, 2 ... curved portion, 3 ... operation unit, 4 ... insertion portion, 5
…鉗子、17…アウターケーシング(外装部材)、18 ... forceps, 17 ... outer casing (exterior member), 18
…インナーケーブル(内装部材)。 ... inner cable (interior member).

Claims (1)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 先端処置具と、この先端処置具を体腔内に挿入するための湾曲部を有する挿入部と、前記先端処置具を駆動させる操作部と、この操作部と前記先端処置具とを連結する連結部材とを有する処置具において、前記連結部材は、フレキシブルな外装部材と、この外装部材の内部で軸方向に移動可能な内装部材とで構成されたことを特徴とする処置具。 And 1. A distal end treatment instrument, an insertion portion having a curved portion for inserting the distal end treatment instrument into a body cavity, an operation portion for driving the tip treatment instrument, and this operation section the distal end treatment instrument in the treatment instrument and a connecting member connecting said connecting member, flexible and the package member, the treatment tool, characterized in that it is constituted by the inside axially movable decoration member of the exterior member.
JP30882794A 1994-12-13 1994-12-13 Treating tool Pending JPH08164141A (en)

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