WO2014157001A1 - 処置具 - Google Patents
処置具 Download PDFInfo
- Publication number
- WO2014157001A1 WO2014157001A1 PCT/JP2014/057878 JP2014057878W WO2014157001A1 WO 2014157001 A1 WO2014157001 A1 WO 2014157001A1 JP 2014057878 W JP2014057878 W JP 2014057878W WO 2014157001 A1 WO2014157001 A1 WO 2014157001A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- displacement amount
- unit
- treatment instrument
- base member
- side base
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
- A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
Definitions
- the present invention relates to a treatment tool.
- This application claims priority based on US Patent Application No. 61 / 805,256 filed provisionally in the United States on March 26, 2013, the contents of which are incorporated herein by reference.
- a treatment tool having a movable portion at the distal end of a flexible long insertion portion.
- a treatment instrument that operates a movable part provided at a distal end of an insertion part by a driving force generated by a driving source such as a servo motor.
- the driving force is transmitted to the movable portion by a power transmission member such as a wire arranged along the insertion portion.
- the movable part is controlled to make a desired movement based on the amount of displacement of the movable part detected by the detecting means.
- Patent Document 1 discloses a treatment instrument in which a treatment instrument side unit and a drive unit side unit including a drive source are detachably coupled.
- a treatment instrument side unit and a drive unit side unit including a drive source are detachably coupled.
- an output unit of a drive source and an input unit that inputs an output of the drive source to the power transmission member are detachably connected via a coupling.
- Patent Document 2 discloses an example in which a sensing wire is used separately from a drive wire. Since a driving force does not act on the sensing wire, the displacement amount of the movable part can be accurately detected using the sensing wire.
- the treatment instrument side unit and the drive unit side unit are separately configured and the sensing wire is applied to a treatment instrument in which both units are detachably connected, the following problem occurs. That is, the positional relationship between the displacement amount detection unit that reflects the displacement amount of the terminal of the sensing wire and the displacement amount detection means that detects the displacement amount of the displacement amount detection unit is displaced when the units are coupled. May cause. As a result, the detection accuracy of the displacement amount of the movable part may be lowered.
- This invention is made in view of the said situation, Comprising: It aims at provision of the treatment tool which can attach or detach the treatment tool unit with respect to a drive unit, without reducing the detection accuracy of the displacement amount of a movable part.
- a treatment instrument includes a treatment instrument unit having a treatment instrument body and a treatment instrument base, and a drive unit that is detachably coupled to the treatment instrument base of the treatment instrument unit.
- the treatment instrument main body includes a movable part that is displaced, an insertion part having the movable part, a distal end connected to the movable part, and a proximal end along the insertion part.
- a driving force transmission member that is guided to the side and receives the driving force from the outside to the base end to transmit the driving force to the movable portion to displace the movable portion, and the driving force transmission member and the movable
- the distal end is connected to at least one of the part, the base end is guided along the insertion part to the base end side of the insertion part, and when the movable part is displaced, the displacement amount is set to the base end.
- a displacement amount transmitting member for transmitting, the treatment instrument base portion A treatment instrument unit-side base member to which the proximal end side of the insertion portion is coupled, and an external portion provided on the treatment instrument unit-side base member for displacing the movable portion with respect to the proximal end of the driving force transmission member
- a driving force input unit for inputting a driving force from the base, and a base end of the displacement amount transmission member, along a certain direction by an amount corresponding to the displacement amount transmitted to the base end of the displacement amount transmission member
- a displacement amount detection unit that is displaced, and the drive unit supports the drive source and generates a drive force for operating the movable unit, and the treatment tool unit of the treatment tool base unit.
- a power transmission joint that detachably connects the output portion of the drive source and the drive force input portion in a state where power can be transmitted from the output portion of the drive source to the drive force input portion;
- the displacement amount detection unit is along a direction parallel to a coupling surface of the treatment instrument unit side base member with the drive unit side base member.
- the displacement amount detection means for detecting the displacement amount of the displacement amount detection unit in a non-contact manner with respect to the displacement amount detection unit the displacement amount detection unit is provided on the drive unit side,
- the treatment instrument unit side base member and the drive unit side base member may be provided at a position facing the displacement amount detection unit when they are connected.
- the treatment instrument unit is provided with a positioning portion for positioning the displacement amount detection means with respect to the displacement amount detection portion,
- the displacement amount detection means provided in the drive unit is urged and positioned by the positioning portion provided in the treatment instrument unit.
- Biasing means may be provided in the drive unit.
- a displacement amount detection provided in the drive unit is detected.
- a positioning unit that positions the displacement amount detection unit with respect to the displacement amount detection unit by fitting the unit may be provided in the treatment instrument unit.
- the displacement amount detection unit is configured such that the treatment instrument unit side base member and the drive unit side base member are connected to each other.
- the treatment tool unit side base member and the drive unit side base member may be set to be larger than an expected connection error in a direction along the coupling surface.
- the treatment instrument is provided with the displacement amount detection means at a position of the treatment instrument unit facing the displacement amount detection unit, A detection signal transmission unit of the displacement amount detection means is provided in the treatment instrument unit, and a reception unit capable of receiving the detection signal of the displacement amount detection means from the transmission unit and outputting the detection signal to the outside is provided in the drive unit.
- the transmission unit and the detection signal may be provided at a position where the detection signal can be exchanged.
- the treatment instrument unit can be attached to and detached from the drive unit without reducing the detection accuracy of the displacement amount of the movable part.
- FIG. 4 is a cross-sectional view taken along line AA in FIG. 3. It is a perspective view which shows the relationship between the displacement amount detection part and displacement amount detection means of the treatment tool of 1st Embodiment of this invention.
- FIG. 6 is a cross-sectional view taken along line BB in FIG. 5.
- FIG. 1 is a configuration diagram schematically showing an overall outline of the treatment instrument of the first embodiment.
- FIG. 2 is a perspective view showing the relationship between the displacement amount detection unit and the displacement amount detection means of the treatment instrument.
- the treatment tool M1 of the present embodiment includes a treatment tool unit 1 and a drive unit 50.
- the treatment instrument unit 1 includes a treatment instrument body 10 and a treatment instrument base 20.
- the treatment instrument base portion 20 of the treatment instrument unit 1 is detachably coupled to the drive unit 50.
- the treatment instrument main body 10 has an insertion part 11 having a flexible structure that can be bent freely.
- the insertion portion 11 has, for example, a plurality of joints, and is bent freely as a whole by bending at each joint.
- a movable portion 12 is provided at the distal end of the insertion portion 11.
- the side where the movable part 12 is provided is described as the distal end side
- the treatment instrument base 20 side is described as the proximal end side.
- the movable portion 12 in the present embodiment is displaced (rotated in the direction of the arrow X10) with respect to the central axis of the insertion portion 11 by the movement of the drive wire 31 described later (the directions of the arrows X1 and X2). To do.
- the movable portion 12 is provided with forceps having a grip portion 12A and a link 13.
- the forceps gripping portion 12A opens and closes (in the directions of arrows X5 and X6) in accordance with the movement of the insertion portion 11 in the central axis direction (arrows X3 and X4 directions) by the wire 13A connected to the proximal end of the link 13.
- the wire 13A is operated by a known mechanism such as a motor (not shown).
- the drive wire 31 and the sensing wire 32 are inserted into the insertion portion 11.
- the drive wire 31 and the sensing wire 32 are guided by wire guides 33 and 34, respectively, so that they can advance and retreat along the longitudinal axis of the insertion portion 11.
- the drive wire 31 is a drive force transmission member for bending the distal end portion of the insertion portion 11.
- two drive wires 31 are inserted into the insertion portion 11.
- the distal end 31 a of each drive wire is fixed to the movable portion 12 at the distal end of the insertion portion 11.
- the base end 31 b of each drive wire 31 is fixed to the outer peripheral surface of the pulley 35 provided in the treatment instrument base portion 20.
- the drive wire 31 may have a U shape in which both ends are fixed to the movable portion 12 at the distal end of the insertion portion 11 and an intermediate portion is disposed on the treatment instrument base portion 20 via a pulley 35.
- each drive wire 31 is fixed at a position facing the radial direction of the insertion portion 11 in the movable portion 12 at the distal end of the insertion portion 11, and one of the two drive wires 31 is pulled to the proximal end side. Then, the distal end of the insertion portion 11 is curved toward the pulled drive wire 31 side.
- the sensing wire 32 is a displacement amount transmission member provided to detect the displacement of the movable portion 12, that is, the amount of bending of the distal end portion (portion having a joint) of the insertion portion 11.
- the distal end 32 a of the sensing wire 32 is fixed to the movable portion 12 at the distal end of the insertion portion 11, and the proximal end of the sensing wire 32 is connected to the displacement amount detection portion 40 in the treatment instrument base portion 20.
- the sensing wire 32 is configured not to receive unnecessary external force so that the extension of the sensing wire 32 does not affect the proximal end 32b side of the sensing wire 32 as much as possible.
- the sensing wire 32 is fixed to only two locations of the movable portion 12 at the distal end of the insertion portion 11 and the displacement amount detection portion 40, and portions other than both ends of the sensing wire 32 reduce sliding resistance. You may have a coating for.
- the wire guide 33 is a cylindrical member having flexibility that defines the path of the drive wire 31 and guides the drive wire 31.
- the wire guide 33 of the drive wire 31 is formed by a coil pipe, for example.
- the wire guide 34 is a cylindrical member having flexibility for defining the path of the sensing wire 32 and guiding the sensing wire 32.
- the wire guide 34 of the sensing wire 32 is formed of, for example, a coil pipe or a metal pipe. Further, the inner surface of the wire guide 34 and the outer surface of the sensing wire 32 may be subjected to a surface treatment or the like so as to reduce the mutual friction.
- the treatment instrument base portion 20 includes a treatment instrument unit side base member 21 to which the proximal end side of the insertion portion 11 of the treatment instrument body portion 10 is coupled. A proximal end 31 b of the drive wire 31 is led out from the wire guide 33 on the treatment instrument base portion 20.
- the treatment instrument unit-side base member 21 is provided with a pulley (driving force input unit) 35 around which the base ends 31b of the driving wires 31 are wound.
- the pulley 35 is a driving force input unit that receives and inputs a force (for example, a rotational driving force from the outside) as a traction force with respect to the movable portion 12 at the distal end of the insertion portion 11 with respect to the proximal end 31 b of the driving wire 31. .
- the pulley 35 is rotatably supported by the treatment instrument unit side base member 21 via a bearing 37. As the pulley 35 rotates, the drive wire 31 is pushed in the direction of the arrow X1 or pulled in the direction of the arrow X2, as shown in FIG.
- the proximal end 32 b of the sensing wire 32 is led out from the wire guide 34 on the treatment instrument base portion 20.
- a displacement amount detection unit 40 is connected to the base end 32 b of the sensing wire 32.
- the displaced amount detection unit 40 is a member that is displaced by the amount of displacement transmitted to the proximal end 32 b of the sensing wire 32.
- the displacement amount detection unit 40 is slidably supported by the treatment instrument unit side base member 21 by a slide guide mechanism 45 so as to be displaced in a certain direction.
- the drive unit 50 includes a drive unit side base member 51.
- the drive unit side base member 51 is provided with a drive motor (drive source) 55 that generates a drive force for operating the movable portion 12 of the treatment instrument unit 1.
- the drive unit side base member 51 is provided with a coupling surface 51a where the drive unit side base member 51 and the treatment instrument unit side base member 21 are brought together when the treatment instrument unit 1 is coupled to the drive unit 50. ing.
- the drive unit side base member 51 and the treatment instrument unit side base member 21 are joined to the treatment instrument unit side base member 21 together. 21a is provided.
- the drive unit 50 and the treatment instrument unit 1 are coupled by a bolt or a clamp mechanism (not shown) in a state where the coupling surfaces 51a and 21a of the drive unit side base member 51 and the treatment instrument unit side base member 21 are aligned. ing.
- a displacement amount detection means 60 that can detect the displacement amount of the displacement amount detection unit 40 in a non-contact manner.
- the displacement amount detection means 60 outputs a signal that detects the displacement amount of the displacement amount detection unit 40 from the drive unit 50 side.
- the displacement amount detection means 60 has an optical encoder.
- the displacement amount detection means 60 faces the detection surface 40 a of the displacement amount detection unit 40 when the treatment instrument unit side base member 21 and the drive unit side base member 51 are connected. In the position.
- the displacement amount detection unit 40 is slidable in a direction parallel to the coupling surface 21a of the treatment instrument unit side base member 21.
- the detection surface 40 a of the displacement amount detection unit 40 is formed as a plane parallel to the coupling surface 21 a of the treatment instrument unit base member 21.
- the detection surface 40a of the displacement detection unit 40 includes a high reflection unit 40b that reflects strongly when the displacement detection means 60 irradiates the detection light 61 toward the detection surface 40a, and a low reflection unit that reflects weakly. 40c.
- the high reflection portions 40b and the low reflection portions 40c are alternately arranged at a constant pitch in the sliding direction of the displacement detection unit 40. Therefore, the displacement amount detection means 60 can detect the displacement amount of the displacement amount detection unit 40 by counting the intensity of reflected light when the displacement amount detection unit 40 slides. .
- a coupling (removably connecting an output shaft (output portion) 55a of the drive motor 55 and a rotation shaft 35a of the pulley 35) is possible.
- a power transmission joint) 70 is provided.
- the coupling 70 is, for example, a concave-convex fitting type coupling that can transmit a rotational force.
- the coupling 70 includes a first connecting portion 56 provided on the output shaft 55 a side of the drive motor 55 and a second connecting portion 36 provided on the rotating shaft 35 a side of the pulley 35.
- the treatment instrument unit side base member 21 When the treatment instrument unit side base member 21 is connected to the drive unit side base member 51, the first connection portion 56 and the second connection portion 36 are fitted to each other, and the pulley 35 is connected to the output shaft 55a of the drive motor 55. It will be in the state which can transmit rotational power to.
- FIG. 5 is a perspective view illustrating a relationship between the displacement amount detection unit 40 and the displacement amount detection means 60 of the treatment tool M1 according to the embodiment.
- 6 is a cross-sectional view taken along the line BB in FIG.
- the treatment instrument unit side base member 21 is provided with a bracket 46.
- a slide member 41 is attached to the bracket 46 via a slide guide mechanism 45.
- the slide member 41 is provided with a displacement amount detection unit 40 that is parallel to the slide direction of the slide member 41 and parallel to the coupling surface 21 a of the treatment instrument unit side base member 21.
- the slide guide mechanism 45 is configured by a linear guide mechanism 44 having a guide rail 42 fixed to the bracket 46 and a slider 43 guided linearly along the guide rail 42.
- the slide member 41 provided with the displacement amount detection unit 40 is attached to the slider 43 of the linear guide mechanism 44.
- the slide member 41 is supported by the treatment instrument unit side base member 21 via the slide guide mechanism 45 so as to be slidable in the direction in which the guide rail 42 of the linear motion guide mechanism 44 extends (arrow X7, X8 direction). Yes.
- a tension spring 49 is provided between the pin 47 fixed to the bracket 46 and the pin 48 fixed to the slide member 41.
- the slide member 41 is always urged so as to pull the sensing wire 32 toward the proximal end side (in the direction of the arrow X8).
- the base end 32b of the sensing wire 32 is connected to the end of the slide member 41 on the distal end side (arrow X7 side).
- the sensing wire 32 is held in a state in which the slack is removed by the tensile force of the tension spring 49.
- the magnitude of the tensile force of the tension spring 49 is such that the slide member 41 moves along the guide rail 42 along the guide rail 42 by the traction force transmitted from the drive motor 55 via the drive wire 31, the movable portion 12, the sensing wire 32, and the slide member 41. It is set to the extent that it can move to.
- the displacement amount detection means 60 is attached to the drive unit side base member 51 via the bracket 52.
- the detection unit of the displacement amount detection means 60 (the portion that emits the detection light 61 and receives the reflected light) is a displacement amount detection unit when the treatment instrument unit side base member 21 and the drive unit side base member 51 are connected.
- the detection light 61 can be irradiated toward 40 detection surfaces 40a (see FIG. 2).
- the user couples the treatment tool base 20 and the drive unit 50 of the treatment tool unit 1.
- the coupling is performed in a state where the coupling surface 21a of the treatment instrument unit side base member 21 and the coupling surface 51a of the drive unit side base member 51 are aligned with each other.
- the treatment instrument unit base member 21 and the drive unit base member 51 are connected to each other, the first connecting portion 56 and the second connecting portion 36 of the coupling 70 are connected.
- the rotational driving force of the drive motor 55 can be transmitted to the pulley 35.
- the detection unit of the displacement amount detection means 60 on the drive unit 50 side detects the displacement amount detection unit 40 of the treatment instrument base unit 20. Opposite to. Therefore, the displacement amount detection means 60 is in a state where it can detect the displacement amount of the displacement amount detection unit 40 in the sliding direction.
- the drive motor 55 rotates
- the rotation of the drive motor 55 is transmitted to the pulley 35.
- the pulley 35 rotates
- the drive wire 31 moves back and forth in the directions of arrows X1 and X2 in FIG.
- the drive wire 31 moves back and forth, the distal end portion of the insertion portion 11 bends in the direction of the arrow X10.
- the slide member 41 and the displacement detection unit 40 are displaced in the directions of the arrows X7 and X8 together with the base end 32b of the sensing wire 32.
- the displacement detection unit 40 is displaced, the displacement is detected by the displacement detection means 60.
- a displacement amount detection signal detected by the displacement amount detection means 60 is output to the outside as necessary.
- the tip of the wire guide 34 of the sensing wire 32 is positioned to the vicinity of the joint on the proximal end side among the plurality of joints, and the bending amount of the portion ahead of this is set.
- the distal end of the wire guide 34 may be extended to the distal end side, and the displacement amount beyond this may be detected.
- the tip of the wire guide 34 is used as a position up to the vicinity of the movable portion 12 to detect the amount of rotation of the movable portion 12 that is the tip.
- the displacement amount detection unit 40 is provided on the treatment instrument unit 1 side.
- a displacement amount detection means 60 is provided on the drive unit 50 side. Therefore, when the treatment instrument unit 1 and the drive unit 50 are connected, there is a possibility that a deviation occurs in the correspondence relationship between the displacement detection unit 40 and the displacement detection means 60.
- the sliding direction of the displacement amount detection unit 40 is set in a direction parallel to the coupling surface 21a of the treatment instrument unit side base member 21. Further, the displacement amount detection means 60 can detect the displacement amount of the displacement amount detection unit 40 in a non-contact manner.
- the displacement amount detection means 60 can accurately detect the displacement amount of the displacement amount detection unit 40 only by adjusting the origin. can do. Therefore, according to this treatment tool M1, the treatment tool unit 1 can be attached to and detached from the drive unit 50 without reducing the detection accuracy of the displacement amount of the movable portion 12.
- the displacement detection unit 40 As an example of the displacement detection unit 40, an example of the displacement detection unit 40 in which the high reflection unit 40b and the low reflection unit 40c are alternately arranged at a constant pitch is shown. It is also possible to employ other displacement amount detection units. For example, instead of the high reflection part 40b and the low reflection part 40c, a displacement amount detection part in which a slit is formed can be employed.
- an optical encoder is used as an example of the non-contact type displacement amount detection means 60.
- a sensor that detects the displacement amount magnetically can be used as other detection means. It is.
- a magnetic sensor that detects a displacement amount magnetically is used, a sensor in which magnets are arranged is used instead of the arrangement of the high reflection portion 40b and the low reflection portion 40c of the displacement amount detection unit.
- the combination which detects a displacement amount digitally is used as a combination of the displacement amount detection part 40 and the displacement amount detection means 60.
- a combination of the displacement amount detection unit 40 that detects the displacement amount in an analog manner and the displacement amount detection means 60 may be used.
- FIG. 7 is a main part configuration diagram of the treatment instrument according to the second embodiment of the present invention.
- the displacement amount detection means 60 is connected to the coupling surface 51a of the drive unit side base member 51 by a spring 68 having one end fixed to the drive unit side base member 51. It is provided to be movable. That is, the one end of the spring 68 is fixed to the drive unit side base member 51, and the other end of the spring 68 is fixed to the displacement amount detection means 60. Further, the displacement amount detection means 60 is pressed against the end face of the bracket 46 by a spring 68. The end surface of the bracket 46 defines the distance between the displacement detection means 60 and the detected surface 40a. Other configurations are the same as those in the first embodiment.
- This embodiment also has the same effect as the first embodiment described above. Further, in the treatment instrument M2 of the present embodiment, when the treatment instrument unit side base member 21 and the drive unit side base member 51 are coupled, the displacement amount detection means 60 on the drive unit 50 side is replaced with the treatment instrument unit side base. It is pressed against the coupling surface 21 a of the member 21. Therefore, this treatment tool M2 can prevent the positional relationship between the displacement amount detection means 60 and the displacement amount detection unit 40 from deviating in the direction orthogonal to the coupling surface 21a. Therefore, the detection accuracy of the displacement amount of the movable part 12 is unlikely to decrease.
- the displacement amount detecting means 60 is pressed against the coupling surface 21a of the treatment instrument unit side base member 21 by the biasing force of the spring 68.
- the displacement amount detection means 60 may be pressed against the coupling surface 21a of the treatment instrument unit base member 21 by the magnetic force of the magnet.
- FIG. 8 is a main part configuration diagram of the treatment instrument according to the third embodiment of the present invention.
- the displacement amount detection means 60 is provided so as to be movable in a direction orthogonal to the coupling surface 51a of the drive unit side base member 51, as in the second embodiment. Yes.
- One end of the spring 68 is fixed to the drive unit side base member 51.
- the displacement amount detection means 60 is fixed to the other end of the spring 68 and is movable with respect to the drive unit side base member 51. Further, the displacement amount detection means 60 is accommodated in the slide hole 58 of the drive unit side base member 51.
- the displacement amount detection means 60 is urged toward the displacement amount detection portion 40 of the treatment instrument base portion 20 by a spring 68 provided in the drive unit 50. Further, as the positioning portion of the displacement amount detection means 60, the treatment instrument base portion 20 is provided with a positioning hole 63 whose entrance is a taper 62. An abutting wall 64 is provided at the back end of the positioning hole 63. A through hole 65 is provided in the abutting wall 64.
- the same effects as those of the first embodiment described above can be obtained. Furthermore, in the treatment instrument M3 of the present embodiment, when the treatment instrument unit side base member 21 and the drive unit side base member 51 are coupled, the displacement amount detection means 60 on the drive unit 50 side is replaced with the treatment instrument base portion 20. It is inserted into the positioning hole 63 while being guided by the taper 62. The inserted displacement amount detection means 60 is in a plane parallel to the coupling surface 21a of the treatment instrument unit-side base member 21 with respect to the displacement amount detection unit 40 by the position being restricted by the peripheral wall of the positioning hole 63. Positioned with.
- the displacement amount detection means 60 when the distal end of the displacement amount detection means 60 abuts against the abutment wall 64, the displacement amount detection means 60 is positioned with respect to the displacement amount detection unit 40 in a direction orthogonal to the coupling surface 21 a of the treatment instrument unit side base member 21.
- the treatment instrument M3 includes a displacement amount detection means 60 and a displacement amount detection unit 40 in a direction parallel to the coupling surface 21a when the treatment instrument unit side base member 21 and the drive unit side base member 51 are connected. It is possible to prevent the positional deviation of. Further, the treatment tool M3 can prevent a displacement between the displacement amount detection means 60 and the displacement amount detection unit 40 in the direction orthogonal to the coupling surface 21a. Therefore, a decrease in detection accuracy of the displacement amount of the movable portion 12 is prevented.
- FIG. 9 is a main part configuration diagram of the treatment tool according to the fourth embodiment of the present invention.
- the displacement amount detection means 60 is provided so as to be movable in a direction orthogonal to the coupling surface 51a of the drive unit side base member 51, as in the second and third embodiments. It has been.
- the displacement amount detection means 60 is urged toward the displacement amount detection portion 40 of the treatment instrument base portion 20 by a spring 68 provided in the drive unit 50. Further, as a positioning portion of the displacement amount detection means 60, the treatment instrument base portion 20 is provided with a tapered polygonal positioning hole 63 having a wide entrance. Further, the shape of the outer peripheral surface of the displacement amount detection means 60 is formed in a tapered shape that fits into the positioning hole 63 without any gap.
- the displacement amount detection means 60 on the drive unit 50 side is replaced with the treatment instrument base portion 20. Is fitted into the positioning hole 63.
- the position of the fitted displacement amount detection means 60 is parallel to the coupling surface 21 a of the treatment instrument unit side base member 21 with respect to the displacement amount detection unit 40 by restricting the position by the peripheral wall of the positioning hole 63.
- the displacement amount detection means 60 is positioned with respect to the displacement amount detection unit 40 in a direction orthogonal to the coupling surface 21 a of the treatment instrument unit side base member 21.
- the treatment tool M4 includes the displacement amount detection means 60 and the displacement amount detection unit 40 in the direction parallel to the coupling surface 21a when the treatment tool unit side base member 21 and the drive unit side base member 51 are connected. It is possible to prevent the positional deviation of. Further, the treatment tool M4 can prevent a displacement between the displacement amount detection means 60 and the displacement amount detection unit 40 in the direction orthogonal to the coupling surface 21a. Therefore, a decrease in detection accuracy of the displacement amount of the movable portion 12 is prevented.
- FIG. 10 is a main part configuration diagram of the treatment instrument according to the fifth embodiment of the present invention.
- the treatment tool M5 is characterized by the size of the rectangular detection surface 40a of the displacement detection unit 40.
- the size of the detected surface 40a in the slide direction (arrow X7, X8 direction) of the detected displacement amount unit 40 is 40X, and is orthogonal to the slide direction of the detected displacement amount detection unit 40 of the detected surface 40a.
- the dimensions 40X and 40Y correspond to the coupling surfaces 21a and 51a when the treatment instrument unit base member 21 and the drive unit base member 51 are connected. It is set to be larger than the expected connection error in the direction along.
- the displacement amount detection unit 40 and the displacement detection means 60 correspond appropriately. That is, even if a displacement in the direction along the coupling surfaces 21a and 51a occurs, the displacement detection unit 40 is configured so that the detection light 61 from the displacement detection means 60 reaches an appropriate position. Therefore, also in the present embodiment, the position of the movable portion 12 can be detected without being affected by the positional deviation between the treatment instrument unit side base member 21 and the drive unit side base member 51.
- FIG. 11 is a configuration diagram schematically showing an overall outline of the treatment instrument according to the sixth embodiment of the present invention.
- FIG. 12 is a perspective view showing the relationship between the displacement amount detection unit and the displacement amount detection means of the treatment instrument.
- the displacement amount detection means 60 is provided on the drive unit 50 side.
- the displacement amount detection means 60 is mounted on the treatment instrument base 120 instead of the drive unit 150.
- the treatment instrument base unit 120 is provided with a transmission unit 160 that transmits the displacement amount detection means 60.
- the driving unit 150 is provided with a receiving unit 170 that can receive a detection signal output from the transmitting unit 160 and take it out to the outside.
- the transmission unit 160 and the reception unit 170 are in a receivable state when the treatment instrument unit side base member 21 is connected to the drive unit side base member 51.
- a wired system having contacts that are electrically connected to each other when the treatment instrument unit side base member 21 is coupled to the drive unit side base member 51 can be employed.
- the transmission unit 160 and the reception unit 170 can be wireless.
- the treatment instrument base unit 120 is equipped with both the displacement amount detection means 60 and the displacement amount detection unit 40, so that regardless of the combination of the treatment instrument unit 101 and the drive unit 150. , Solid correspondence. Therefore, the displacement amount detection means 60 can accurately detect the displacement amount of the movable portion 12 without being affected by errors and deviations due to the combination of the treatment instrument unit 101 and the drive unit 150.
- the present invention is not limited to this.
- the tip 32a of the sensing wire 32 is preferably connected to the wire 13A in the vicinity of the link 13.
- the mechanism of the movable portion 12 is not limited to the above-described bending and opening / closing, and may be, for example, a linear motion.
- the position of the movable portion 12 is not limited to the tip of the insertion portion 11, and for example, a linear motion mechanism may be positioned in the middle of the insertion portion 11.
- the treatment instrument unit can be attached to and detached from the drive unit without reducing the detection accuracy of the displacement amount of the movable part.
Abstract
Description
本願は、2013年03月26日に、米国に仮出願された米国特許出願第61/805,256号に基づき優先権を主張し、その内容をここに援用する。
特許文献1の処置具においては、処置具側のユニットと駆動部側のユニットとに分割され、ユニット間が着脱自在に連結される構成であると、処置具側のユニットの交換や使い捨てが可能になる。また、処置具側のユニットの滅菌が、駆動部側のユニットに関係なく便利になる。
この処置具において、処置具側のユニットの可動部の変位量を駆動部側のユニットで検出しようとした場合、可動部を作動させる駆動ワイヤの基端の変位量を検出するのが簡易である。しかし、可動部に駆動力が伝達されるとき、駆動ワイヤには大きな力が加わる。駆動ワイヤに大きな力が加わると、駆動ワイヤが伸びる場合がある。駆動ワイヤが伸びると、駆動ワイヤの基端の変位量が可動部の変位量を正確に反映しなくなる。従って、可動部の変位量が正確に検出されなくなる。
特許文献2には、駆動ワイヤとは別にセンシング用ワイヤを用いる例が開示されている。センシング用ワイヤには駆動力が作用しないので、センシング用ワイヤを用いて可動部の変位量を正確に検出することができる。
しかし、処置具側のユニットと駆動部側のユニットとが別に構成され、両ユニットが着脱自在に連結される処置具に、センシング用ワイヤが適用された場合、次の課題が発生する。すなわち、センシング用ワイヤの端末の変位量を反映する被変位量検出部と、この被変位量検出部の変位量を検出する変位量検出手段との位置関係が、ユニット同士の結合の際にズレを起こす可能性がある。その結果、可動部の変位量の検出精度が低下するおそれがある。
本発明の第3の態様によれば、上記第2の態様において、前記変位量検出手段を前記被変位量検出部に対にして位置決めする位置決め部が前記処置具ユニットに設けられており、前記処置具ユニット側ベース部材と前記駆動ユニット側ベース部材とが連結されたときに、前記駆動ユニットに設けられた変位量検出手段を前記処置具ユニットに設けられた位置決め部に付勢して位置決めする付勢手段が前記駆動ユニットに設けられていてもよい。
上記各態様によれば、可動部の変位量の検出精度を低下させることなく、駆動ユニットに対する処置具ユニットの着脱が可能となる。
(第1実施形態)
本発明の第1実施形態の処置具について説明する。
図1は、第1実施形態の処置具の全体概要を模式的に示す構成図である。図2は、同処置具の被変位量検出部と変位量検出手段の関係を示す斜視図である。図3は、同処置具の全体概要を模式的に示す構成図である。図4は、図3のA-A矢視断面図である。
各駆動ワイヤ31の先端31aは、挿入部11の先端の可動部12において挿入部11の径方向に対向する位置に固定されており、2本の駆動ワイヤ31の一方が基端側へ牽引されると、挿入部11の先端は、牽引された駆動ワイヤ31側へ向かって湾曲する。
ワイヤガイド34は、センシング用ワイヤ32の経路を規定してセンシング用ワイヤ32をガイドする可撓性を備えた筒状部材である。センシング用ワイヤ32のワイヤガイド34は、たとえばコイルパイプや金属パイプによって形成されている。また、ワイヤガイド34内面とセンシング用ワイヤ32の外面に、互いの摩擦が小さくなるような表面処理等が施されていてもよい。
駆動ユニット側ベース部材51には、駆動ユニット50に対して処置具ユニット1が連結されたときに、駆動ユニット側ベース部材51と処置具ユニット側ベース部材21とが互いに合わさる結合面51aが設けられている。同様に、処置具ユニット側ベース部材21には、駆動ユニット50に対して処置具ユニット1が連結されたときに、駆動ユニット側ベース部材51と処置具ユニット側ベース部材21とが互いに合わさる結合面21aが設けられている。
駆動ユニット50と処置具ユニット1は、駆動ユニット側ベース部材51と処置具ユニット側ベース部材21の結合面51a、21a同士を合わせた状態で、図示しないボルトやクランプ機構によって結合されるようになっている。
図5および図6に示すように、処置具ユニット側ベース部材21にはブラケット46が設けられている。ブラケット46には、スライドガイド機構45を介して、スライド部材41が取り付けられている。スライド部材41には、スライド部材41のスライド方向に平行で且つ処置具ユニット側ベース部材21の結合面21aに平行に被変位量検出部40が設けられている。
本処置具M1を使用する場合、使用者は、処置具ユニット1の処置具ベース部20と駆動ユニット50とを結合する。結合は、処置具ユニット側ベース部材21の結合面21aと駆動ユニット側ベース部材51の結合面51aとを互いに合わせた状態で行われる。処置具ユニット側ベース部材21と駆動ユニット側ベース部材51とが互いに連結されると、カップリング70の第1連結部56と第2連結部36とが連結される。これにより、駆動モータ55の回転駆動力がプーリ35に伝達可能な状態となる。
この状態において、駆動モータ55が回転すると、駆動モータ55の回転がプーリ35に伝達される。プーリ35が回転すると、図3の矢印X1、X2方向に駆動ワイヤ31が進退動作する。駆動ワイヤ31が進退動作すると、挿入部11の先端部分が矢印X10方向に湾曲動作する。
しかし、本実施形態の処置具M1では、被変位量検出部40のスライド方向が、処置具ユニット側ベース部材21の結合面21aに平行な方向に設定されている。また、変位量検出手段60は、被変位量検出部40の変位量を非接触で検出できる。従って、結合面21aに沿った方向の組付誤差やズレ等がたとえあっても、変位量検出手段60は、原点調整が行われるだけで、被変位量検出部40の変位量を正確に検出することができる。
そのため、本処置具M1によれば、可動部12の変位量の検出精度を低下させることなく、駆動ユニット50に対する処置具ユニット1の着脱ができるようになる。
また、上記実施形態では、被変位量検出部40と変位量検出手段60の組み合わせとして、デジタル式に変位量を検出する組み合わせが使用されている。しかし、アナログ式に変位量を検出する被変位量検出部40と変位量検出手段60の組み合わせが使用されていてもよい。
次に、本発明の第2実施形態の処置具M2について説明する。以下に説明する各実施形態において、上述の第1実施形態と同様の構成要素には、同一の符号を付して重複する説明を省略する。
図7に示すように、本処置具M2においては、変位量検出手段60は、駆動ユニット側ベース部材51に一端が固定されたバネ68によって、駆動ユニット側ベース部材51の結合面51aに対して移動可能に設けられている。すなわち、バネ68の前記一端は、駆動ユニット側ベース部材51に固定され、バネ68の他端は、変位量検出手段60に固定されている。また、変位量検出手段60は、バネ68によって、ブラケット46の端面に押し付けられている。ブラケット46の端面は、変位量検出手段60と被検出面40aとの距離を規定する。それ以外の構成は、第1実施形態と同様である。
さらに、本実施形態の処置具M2では、処置具ユニット側ベース部材21と駆動ユニット側ベース部材51とが連結されたときに、駆動ユニット50側の変位量検出手段60が、処置具ユニット側ベース部材21の結合面21aに押し付けられる。従って、本処置具M2は、結合面21aに直交する方向の変位量検出手段60と被変位量検出部40の位置関係のずれを生じないようにすることができる。そのため、可動部12の変位量の検出精度が低下しにくい。
次に、本発明の第3実施形態の処置具M3について説明する。
図8は、本発明の第3実施形態の処置具における要部構成図である。
図8に示すように、本処置具M3においては、第2実施形態と同様に、変位量検出手段60が、駆動ユニット側ベース部材51の結合面51aに直交する方向に移動可能に設けられている。バネ68の一端は、駆動ユニット側ベース部材51に固定されている。変位量検出手段60は、バネ68の他端に固定されており、駆動ユニット側ベース部材51に対して移動可能である。さらに、変位量検出手段60は、駆動ユニット側ベース部材51のスライド孔58の中に収容される。
さらに、本実施形態の処置具M3では、処置具ユニット側ベース部材21と駆動ユニット側ベース部材51とが連結されたときに、駆動ユニット50側の変位量検出手段60が、処置具ベース部20の位置決め孔63にテーパ62で誘導されながら挿入される。挿入された変位量検出手段60は、位置決め孔63の周壁で位置が規制されることにより、被変位量検出部40に対して、処置具ユニット側ベース部材21の結合面21aに平行な面内で位置決めされる。また、変位量検出手段60の先端が突当壁64に突き当たることで、被変位量検出部40に対して、処置具ユニット側ベース部材21の結合面21aに直交する方向に位置決めされる。
次に、本発明の第4実施形態の処置具M4について説明する。
図9は、本発明の第4実施形態の処置具における要部構成図である。
図9に示すように、本処置具M4においては、第2、第3実施形態と同様に、変位量検出手段60が駆動ユニット側ベース部材51の結合面51aに直交する方向に移動可能に設けられている。
さらに、本実施形態の処置具M4では、処置具ユニット側ベース部材21と駆動ユニット側ベース部材51とが連結されたときに、駆動ユニット50側の変位量検出手段60が、処置具ベース部20の位置決め孔63に嵌合される。嵌合された変位量検出手段60は、位置決め孔63の周壁で位置が規制されることにより、被変位量検出部40に対して、処置具ユニット側ベース部材21の結合面21aに平行な面内で位置決めされる。また、変位量検出手段60は、被変位量検出部40に対して、処置具ユニット側ベース部材21の結合面21aに直交する方向に位置決めされる。
次に、本発明の第5実施形態の処置具M5について説明する。
図10は、本発明の第5実施形態の処置具における要部構成図である。
図10に示すように、本処置具M5においては、被変位量検出部40の矩形の被検出面40aの大きさに特徴がある。例えば、被検出面40aの、被変位量検出部40のスライド方向(矢印X7、X8方向)の大きさを寸法40Xとし、被検出面40aの、被変位量検出部40のスライド方向と直交する方向(矢印Y方向)の大きさを寸法40Yとしたときに、寸法40X、40Yは、処置具ユニット側ベース部材21と駆動ユニット側ベース部材51とが連結される際の結合面21a、51aに沿った方向の予想連結誤差よりも大きく設定されている。
次に、本発明の第6実施形態の処置具M6について説明する。
図11は、本発明の第6実施形態の処置具の全体概要を模式的に示す構成図である。図12は、同処置具の被変位量検出部と変位量検出手段の関係を示す斜視図である。
また、可動部12の機構としては、上記湾曲、開閉に限らず、例えば直動であっても良い。さらに、可動部12の位置も挿入部11の先端に限らず、例えば直動機構を挿入部11の途中に位置させても良い。
また、本発明は前述した説明によって限定されることはなく、添付のクレームの範囲によってのみ限定される。
1 処置具ユニット
10 処置具本体部 11 挿入部
12 可動部
20 処置具ベース部
21 処置具ユニット側ベース部材
31 駆動ワイヤ(駆動力伝達部材)
32 センシング用ワイヤ(変位量伝達部材)
35 プーリ(駆動力入力部)
40 被変位量検出部
50 駆動ユニット
51 駆動ユニット側ベース部材
55 駆動モータ(駆動源)
60 変位量検出手段
70 カップリング(動力伝達継手)
Claims (6)
- 処置具本体部および処置具ベース部を有する処置具ユニットと、
前記処置具ユニットの処置具ベース部と着脱自在に結合される駆動ユニットと、
を備え、
前記処置具本体部は、
変位する可動部と、
前記可動部を有する挿入部と、
先端が前記可動部に連結され、基端が前記挿入部に沿って前記挿入部の基端側に誘導され、前記基端に外部から駆動力が入力されることで、前記駆動力を前記可動部に伝えて前記可動部を変位させる駆動力伝達部材と、
前記駆動力伝達部材と前記可動部との少なくとも何れか一方に先端が連結され、基端が前記挿入部に沿って前記挿入部の基端側に誘導され、前記可動部が変位した際に、その変位量を前記基端に伝える変位量伝達部材と、
を有し、
前記処置具ベース部は、
前記挿入部の基端側が結合された処置具ユニット側ベース部材と、
前記処置具ユニット側ベース部材に設けられ、前記駆動力伝達部材の基端に対して、前記可動部を変位させるための外部からの駆動力を入力する駆動力入力部と、
前記変位量伝達部材の基端に設けられ、前記変位量伝達部材の基端に伝達された変位量に応じた量だけ一定の方向に沿って変位する被変位量検出部と、
を有し、
前記駆動ユニットは、
前記可動部を作動させる駆動力を発生する駆動源と、
前記駆動源を支持すると共に前記処置具ベース部の前記処置具ユニット側ベース部材が着脱自在に連結される駆動ユニット側ベース部材と、
を有し、
前記処置具ユニットと前記駆動ユニットの間には、
前記処置具ユニット側ベース部材が前記駆動ユニット側ベース部材に連結されたとき、前記駆動源の出力部と前記駆動力入力部とを、前記駆動源の出力部から前記駆動力入力部に動力伝達が可能となる状態で着脱自在に連結する動力伝達継手と、
前記処置具ユニット側ベース部材が前記駆動ユニット側ベース部材に連結されたとき、前記被変位量検出部の変位量を検出できる状態となり且つ検出信号を前記駆動ユニット側から出力できる状態となる変位量検出手段と、
が設けられている処置具。 - 請求項1に記載の処置具であって、
前記被変位量検出部が、前記処置具ユニット側ベース部材の前記駆動ユニット側ベース部材との結合面に平行な方向に沿って移動自在に設けられ、
前記変位量検出手段が、前記被変位量検出部の変位量を前記被変位量検出部に対して非接触で検出する変位量検出手段として、前記駆動ユニット側の、前記処置具ユニット側ベース部材と前記駆動ユニット側ベース部材とが連結されたときに前記被変位量検出部に対向する位置に設けられている
処置具。 - 請求項2に記載の処置具であって、
前記変位量検出手段を前記被変位量検出部に対にして位置決めする位置決め部が前記処置具ユニットに設けられており、
前記処置具ユニット側ベース部材と前記駆動ユニット側ベース部材とが連結されたときに、前記駆動ユニットに設けられた変位量検出手段を前記処置具ユニットに設けられた位置決め部に付勢して位置決めする付勢手段が前記駆動ユニットに設けられている
処置具。 - 請求項2に記載の処置具であって、
前記処置具ユニット側ベース部材と前記駆動ユニット側ベース部材とが連結されたときに、前記駆動ユニットに設けられた変位量検出手段が嵌まることで、前記変位量検出手段を前記被変位量検出部に対して位置決めする位置決め部が前記処置具ユニットに設けられている
処置具。 - 請求項2に記載の処置具であって、
前記被変位量検出部の大きさが、前記処置具ユニット側ベース部材と前記駆動ユニット側ベース部材とが連結される際の前記処置具ユニット側ベース部材と前記駆動ユニット側ベース部材の結合面に沿った方向の予想連結誤差よりも大きく設定されている処置具。 - 請求項1に記載の処置具であって、
前記変位量検出手段が、前記処置具ユニットの、前記被変位量検出部に対向する位置に設けられ、
前記変位量検出手段の検出信号の送信部が前記処置具ユニットに設けられ、
前記変位量検出手段の検出信号を前記送信部から受信して外部へ出力可能な受信部が、前記駆動ユニットの、前記処置具ユニット側ベース部材と前記駆動ユニット側ベース部材とが連結されたときに前記送信部と前記検出信号の授受が可能な位置に設けられている処置具。
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JP2015508435A JP6329528B2 (ja) | 2013-03-26 | 2014-03-20 | 処置具 |
CN201480016306.4A CN105228549B (zh) | 2013-03-26 | 2014-03-20 | 处置器械 |
EP14776095.3A EP2982331A4 (en) | 2013-03-26 | 2014-03-20 | TREATMENT TOOL |
US14/860,941 US9968410B2 (en) | 2013-03-26 | 2015-09-22 | Treatment tool |
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US201361805256P | 2013-03-26 | 2013-03-26 | |
US61/805,256 | 2013-03-26 |
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US14/860,941 Continuation US9968410B2 (en) | 2013-03-26 | 2015-09-22 | Treatment tool |
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PCT/JP2014/057878 WO2014157001A1 (ja) | 2013-03-26 | 2014-03-20 | 処置具 |
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US (1) | US9968410B2 (ja) |
EP (1) | EP2982331A4 (ja) |
JP (1) | JP6329528B2 (ja) |
CN (1) | CN105228549B (ja) |
WO (1) | WO2014157001A1 (ja) |
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JPWO2017006375A1 (ja) * | 2015-07-09 | 2018-04-19 | 川崎重工業株式会社 | 手術用ロボット |
JPWO2017006376A1 (ja) * | 2015-07-09 | 2018-04-19 | 川崎重工業株式会社 | 手術用ロボット |
KR20190102486A (ko) * | 2018-02-26 | 2019-09-04 | 한국기계연구원 | 수술용 가이드 어셈블리 및 이를 이용한 수술용 가이드 장치 |
KR20190103602A (ko) * | 2018-02-28 | 2019-09-05 | 한국기계연구원 | 수술용 가이드 어셈블리 및 이를 이용한 수술용 가이드 시스템 |
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JP6043037B1 (ja) * | 2015-02-13 | 2016-12-14 | オリンパス株式会社 | マニピュレータ |
CN107334537B (zh) * | 2017-07-31 | 2021-03-19 | 成都博恩思医学机器人有限公司 | 支架组件、手术机器人的手术器械及手术机器人 |
CN107320191B (zh) * | 2017-07-31 | 2021-10-15 | 成都博恩思医学机器人有限公司 | 传动组件、手术机器人的手术器械及手术机器人 |
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WO2019207674A1 (ja) * | 2018-04-25 | 2019-10-31 | オリンパス株式会社 | 駆動装置および医療用マニピュレータ |
CN110772334B (zh) * | 2019-04-25 | 2023-11-10 | 深圳市精锋医疗科技股份有限公司 | 手术器械 |
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Also Published As
Publication number | Publication date |
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EP2982331A1 (en) | 2016-02-10 |
CN105228549A (zh) | 2016-01-06 |
JP6329528B2 (ja) | 2018-05-23 |
CN105228549B (zh) | 2018-01-16 |
EP2982331A4 (en) | 2016-11-02 |
US9968410B2 (en) | 2018-05-15 |
US20160074121A1 (en) | 2016-03-17 |
JPWO2014157001A1 (ja) | 2017-02-16 |
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