WO2017203692A1

WO2017203692A1 - Connection device

Info

Publication number: WO2017203692A1
Application number: PCT/JP2016/065727
Authority: WO
Inventors: 克彦吉村
Original assignee: オリンパス株式会社
Priority date: 2016-05-27
Filing date: 2016-05-27
Publication date: 2017-11-30

Abstract

This connection device (1) includes: a first holding unit (2) that holds a first medical device (50A); a second holding unit (4) that holds a second medical device (50B); a link (6) that connects the first holding unit (2) and the second holding unit (4); a securing mechanism (15) that includes a brake for securing the link; a detection unit (21) that detects whether an operator that operates the first medical device (50A) has stopped holding the first medical device (50A); and a control unit (30) that controls the securing mechanism (15) so as to secure the link (6) if the detection unit (21) detects that the operator has stopped holding the first medical device (50A).

Description

Connected device

The present invention relates to a connection device that connects a plurality of medical devices to each other.

In laparoscopic surgery, a plurality of medical devices may be inserted into the body for treatment. Generally, in order to perform a laparoscopic operation, at least an operator (surgeon) who operates a medical device and an operator (scopist) who operates a laparoscope are required. When the surgeon is operating multiple medical devices, if the surgeon tries to operate another medical device or laparoscope, he / she has an unoccupied operator holding the medical device. Needs may arise.
Further, by using a holder or the like for holding the laparoscope instead of having the scopist take charge of the operation of the laparoscope, the surgeon can operate the laparoscope to obtain an appropriate field of view even without the scopist.

For example, Patent Document 1 discloses a scope holder that holds a laparoscope instead of a scopist. However, when using the scope holder disclosed in Patent Document 1 and operating the plurality of medical devices by the surgeon, when the surgeon attempts to operate the laparoscope, at least one of the plurality of medical devices Persons other than the surgeon are needed to hold one.

Further, in order to increase the number of medical devices that can be used simultaneously by the surgeon, an apparatus that can operate the medical devices using voice or a foot pedal is disclosed in Patent Document 2. However, since the operation system of the apparatus disclosed in Patent Document 2 is different from the operation system for medical devices that are familiar to users, it is difficult to perform precise operation of the medical devices until they are familiar with the operation.

Japanese Patent No. 5433089 JP 2004-129956 A

In laparoscopic surgery using a plurality of medical devices in addition to a laparoscope, the scope holder disclosed in Patent Document 1 is made temporary so that the medical device can be held as in Patent Document 2. It can be used for retention. However, in this case, since the scope holder described in Patent Document 1 occupies a space near the surgeon who operates the medical device, it becomes difficult to perform a precise treatment using the medical device. .

An object of the present invention is to realize precise operations on medical devices or laparoscopes that exceed the number that a surgeon can simultaneously operate in laparoscopic surgery using a plurality of medical devices.

One aspect of the present invention includes a first holding unit that holds a first medical device, a second holding unit that holds a second medical device, a link that connects the first holding unit and the second holding unit, A fixing mechanism including a brake for fixing the link; a detection unit configured to detect whether or not holding of the first medical device by an operator operating the first medical device has been eliminated; And a control unit that controls the fixing mechanism so as to fix the link when the detection unit detects that the holding of the first medical device has been canceled.

The link may include an expansion / contraction mechanism capable of changing a distance between the first holding part and the second holding part, and a rotation mechanism rotatable around at least two axes. You may fix the said expansion-contraction mechanism and the said rotation mechanism according to the said control by the said control part in the arbitrary positions in the movable range of each mechanism.

The first medical device may have a rod-like long portion, and the first holding portion can be moved forward and backward with respect to the first holding portion in a center line direction of the long portion. Or the long portion may be held such that the long portion is rotatable with respect to the first holding portion with the center line of the long portion as a rotation center, The fixing mechanism may include a second brake for fixing the first holding portion to the long portion based on the control by the control portion.

The first medical device may have a rod-like long portion, and the first holding member has a first contact surface that can contact a part of the outer peripheral surface of the long portion. And a second contact surface that can come into contact with another part of the outer peripheral surface of the long portion, and is connected to the first gripping member so as to have a straight line parallel to the center line of the long portion as an opening / closing axis A second gripping member.

The first holding part may have a first trocar part that can be placed on the body wall, and the second holding part may have a second trocar part that can be placed on the body wall.

The link may include a bending tube that can be freely bent by connecting the first holding portion and the second holding portion.

The detection unit may be disposed in an operation unit that is touched by an operator to perform a treatment using the first medical device, and the detection unit is configured to determine whether or not the holding of the first medical device has been eliminated. This may be detected by the presence or absence of contact of the operator's hand.

According to the present invention, in laparoscopic surgery using a plurality of medical devices, it is possible to realize precise operations on medical devices or laparoscopes that exceed the number that a surgeon can operate simultaneously.

It is a schematic diagram which shows the connection device of 1st Embodiment of this invention with a medical device and a laparoscope. It is a schematic diagram which shows the internal structure of a connection device. It is a schematic diagram which shows an example of the structure of the holding | maintenance part of a connection device. It is a schematic diagram which shows an example of the structure of the holding | maintenance part of a connection device. It is a block diagram of a connection device. It is a schematic diagram which shows the connection device of 2nd Embodiment of this invention with a medical device. It is a schematic diagram which shows the connection device of 3rd Embodiment of this invention with a medical device. It is a schematic diagram which shows the connection device of 4th Embodiment of this invention with a medical device. It is a schematic diagram which shows the usage example of a connection device.

(First embodiment)
A first embodiment of the present invention will be described. FIG. 1 is a schematic view showing the connection device of this embodiment together with a medical device and a laparoscope. FIG. 2 is a schematic diagram showing the internal structure of the connection device. FIG. 3 is a schematic diagram illustrating an example of the structure of the holding unit of the connection device. FIG. 4 is a schematic diagram illustrating an example of the structure of the holding unit of the connection device. FIG. 5 is a block diagram of the connection device.

As shown in FIG. 1, the connection device 1 of the present embodiment is a device that connects a plurality of medical devices 50 (for example, the first medical device 50A and the second medical device 50B) to each other. As the medical device 50 to be connected using the connection device 1, a known device that is used by being inserted into a patient's body in laparoscopic surgery may be used.

For example, in the present embodiment, the first medical device 50A includes a hard cylindrical long part 51A, a treatment part 52A disposed at the distal end of the long part 51A, and a proximal end of the long part 51. And an operation unit 53A.
In addition, the second medical device 50B includes a long portion 51B, a treatment portion 52B, and an operation portion 53B, similarly to the first medical device 50A.

The long part 51A of the first medical device 50A and the long part 51B of the second medical device 50B have a straight cylindrical shape that can be inserted into the patient's body through a known trocar, for example. Inside the

long portions

51A, 51B, the rod or wire 19 for transmitting power for operating the

treatment portions

52A, 52B from the

operation portions

53A, 53B to the

treatment portions

52A, 52B, the treatment portions 52A, Wiring or the like for supplying power to 52B may be arranged.

The treatment unit 52A of the first medical device 50A and the treatment unit 52B of the second medical device 50B are known so as to be able to perform treatment such as grasping and incision according to the type and state of the treatment target site. The end effector may be provided.

The operation unit 53A of the first medical device 50A and the operation unit 53B of the second medical device 50B are provided for the operator to operate each medical device 50 with each medical device 50 in hand.

As shown in FIGS. 1 and 2, the connection device 1 includes a first holding unit 2, a second holding unit 4, a link 6, a fixing mechanism 15, a detection unit 21, and a control unit 30. Yes.

The first holding part 2 has a cylindrical shape in which a through hole 3 into which the long part 51 of the first medical device 50A can be inserted is formed. When the first medical device 50A is used together with the connection device 1, the first holding part 2 can be fixed to the long part 51 of the first medical device 50A.

The second holding part 4 has a cylindrical shape in which a through hole 5 into which the long part 51 of the second medical device 50B can be inserted is formed. When using the 2nd medical device 50B with the connection device 1, the 2nd holding | maintenance part 4 can be fixed to the elongate part 51 of the 2nd medical device 50B.

The inner diameters of the first holding part 2 and the second holding part 4 are sized to fit various medical devices 50 that can be applied to laparoscopic surgery. The first holding part 2 and the second holding part 4 are suitably fixed to the long parts 51 of various medical devices 50 by having a mechanism for sandwiching and tightening the long parts 51 of the medical device 50. Is possible.
As a mechanism for fixing the first holding part 2 and the second holding part 4 to the long part 51, such as a clamp that operates electrically so as to fix the first holding part 2 and the second holding part 4 to the long part 51 A mechanism such as a clamp (see FIG. 3 and FIG. 4) that opens and closes the first holding unit 2 and the second holding unit 4 and fixes them to the long unit 51 may be employed. Further, as shown in FIG. 2, the electrically operated clamp is configured so that the elongate portion 51 can be fixed and released in conjunction with each

electromagnetic brake

16, 17, 18 in the fixing mechanism 15. 2a and 5a may be included. The

electromagnetic brakes

2a and 5a are controlled by the control unit 30.

The link 6 is connected to the first holding unit 2 and the second holding unit 4 so as to connect the first holding unit 2 and the second holding unit 4.
The link 6 has an expansion / contraction mechanism 7 and a rotation mechanism 10.
The expansion / contraction mechanism 7 includes a first shaft 8 and a second shaft 9 that are coaxially connected, and an expansion / contraction that relatively moves the first shaft 8 and the second shaft 9 in the axial direction of the first shaft 8 and the second shaft 9. A guide (not shown). For example, the inner diameter of the first shaft 8 is larger than the outer diameter of the second shaft 9 so that the second shaft 9 can be inserted into the first shaft 8. Further, the telescopic guide restricts rotation so that relative rotation between the first shaft 8 and the second shaft 9 having the rotation axis about the axes of the first shaft 8 and the second shaft 9 does not occur. Note that the first shaft 8 and the second shaft 9 may be relatively rotatable with a certain amount of frictional resistance instead of the expansion / contraction mechanism 7 having the expansion / contraction guide.

The rotation mechanism 10 includes a first ball joint 11 that connects the first holding unit 2 and the first shaft 8, and a second ball joint 12 that connects the second holding unit 4 and the second shaft 9. ing.
Since the first holding part 2 and the first shaft 8 are connected by the first ball joint 11, the first holding part 2 is movable about the ball center of the first ball joint 11. It can move freely with respect to the first shaft 8 within the range.
Since the second holding part 4 and the second shaft 9 are connected by the second ball joint 12, the second holding part 4 is movable about the spherical center of the second ball joint 12. Within the range, the second shaft 9 can be freely moved.

Since the first holding unit 2 is connected to the second holding unit 4 via the expansion / contraction mechanism 7 and the rotation mechanism 10, the second holding unit 4 is within the movable range of the expansion / contraction mechanism 7 and the rotation mechanism 10. The first holding unit 2 can be freely moved.

The fixing mechanism 15 includes a first electromagnetic brake 16 that restricts the expansion / contraction operation of the expansion / contraction mechanism 7, and a second electromagnetic brake 17 and a third electromagnetic brake 18 that restrict the rotation operation of the rotation mechanism 10.

As shown in FIG. 5, the first electromagnetic brake 16 is connected to the control unit 30. The first electromagnetic brake 16 receives the output of the control signal from the control unit 30, and the first shaft 8 and the second shaft 9 prevent the relative movement between the first shaft 8 and the second shaft 9 shown in FIG. Can be frictionally engaged.

As shown in FIG. 5, the second electromagnetic brake 17 is connected to the control unit 30. The second electromagnetic brake 17 can receive the output of the control signal from the control unit 30 and set the first ball joint 11 shown in FIG. 2 in a fixed state.

As shown in FIG. 5, the third electromagnetic brake 18 is connected to the control unit 30. The third electromagnetic brake 18 can receive the output of the control signal from the control unit 30 and can fix the second ball joint 12 shown in FIG.

As will be described later, each of the

electromagnetic brakes

16, 17, and 18 outputs a control signal to each of the

electromagnetic brakes

16, 17, and 18 so that the link 6 is in a fixed state in which the posture of the link 6 does not change. . Further, the

electromagnetic brakes

16, 17, and 18 can change the posture of the link 6 by releasing the control signal output from the control unit 30 to the

electromagnetic brakes

16, 17, and 18. A variable state is possible.

The detection unit 21 illustrated in FIGS. 1 and 5 is a sensor for detecting an operation for switching the state of the link 6 to a fixed state or a variable state.
As shown in FIGS. 1 and 5, the detection unit 21 may be arranged at a position where the detection unit 21 can be operated in association with the operation of the first medical device 50A. For example, the detection unit 21 can be attached to the operation unit 53A of the first medical device 50A. For example, the detection unit 21 is always disposed at a position where the operator touches the first medical device 50A when the operator operates the first medical device 50A. Thereby, without making an operator conscious of operating the detection part 21, it can be set as the state with which operation with respect to the detection part 21 is made at the time of the operation start of 50 A of 1st medical devices.

The detection unit 21 is electrically connected to the control unit 30 through wiring. The structure of the detection unit 21 is not particularly limited. For example, the detection unit 21 may include a touch switch such as a capacitive sensor, a contact-type switch, or the like as means for detecting contact of the operator's hand.

It should be noted that the detection unit 21 may be attached at a position where it can be detected that the operator is in an appropriate posture for performing treatment by touching the operation unit 53A. In this case, the detection unit 21 can be used in the control unit 30 to determine whether or not the operator holds the first medical device 50A in a posture suitable for treatment.

The control unit 30 is electrically connected to the detection unit 21 and the fixing mechanism 15 by wiring. When the detection unit 21 does not detect the touch of the operator's hand, the control unit 30 outputs a control signal for restricting the operation of the

electromagnetic brakes

16, 17, and 18 disposed on the link 6. 16, 17 and 18. The control unit 30 stops the output of the control signal while the detection unit 21 detects the contact of the operator's hand, and restricts the operation by the

electromagnetic brakes

16, 17, 18 arranged on the link 6. Is released. Accordingly, when the operator holds the first medical device 50A in a state where the first medical device 50A can be operated, the first medical device 50A and the second medical device 50B can move freely, and the operator can The positional relationship between the first medical device 50A and the second medical device 50B is fixed when the hand is released from the operation unit 53A of the first medical device 50A by interrupting or terminating the operation of the first medical device 50A. The link 6 is in a fixed state.

The effect | action of the connection device 1 of this embodiment is demonstrated.
The connection device 1 of this embodiment is used together with the first medical device 50A and the second medical device 50B. For example, when one operator (surgeon) holds and uses the operation unit 53A of the first medical device 50A and the operation unit 53B of the second medical device 50B in order to perform treatment on the treatment target region, the operator's Since the operation is performed using both hands, it is difficult for the operator to operate the other medical devices and the laparoscope 100 while holding the first medical device 50A and the second medical device 50B with both hands.

In the present embodiment, the operator operates the other medical device, the laparoscope 100, and the like while the operator holds the first medical device 50A and the second medical device 50B, so that the operator operates the operation unit 53A of the first medical device 50A. You can take your hands off. When the operator releases his / her hand from the operation unit 53A of the first medical device 50A, the operator's hand is separated from the detection unit 21, so that the control unit 30 places the link 6 in a fixed state. As a result, it is possible to maintain the posture of the first medical device 50A when the operator releases the hand from the first medical device 50A even after the operator releases the hand from the operation unit 53A of the first medical device 50A. it can. At this time, the operator can freely operate other medical devices, the laparoscope 100, and the like with a hand away from the operation unit 53A of the first medical device 50A.

As a case where another medical device is temporarily used by releasing the hand from the operation unit 53A of the first medical device 50A, for example, a case where the three medical devices are used while being held is assumed.
As a case where the laparoscope 100 is temporarily used by releasing the hand from the operation unit 53A of the first medical device 50A, for example, a case where the field of view by the laparoscope 100 is changed is assumed.

When the operation of the other medical device, the laparoscope 100, etc. is terminated and the operation is returned to the treatment target site, the operator (surgeon) releases the hand from the other medical device, the laparoscope 100, etc. Switch to the operation unit 53A of one medical device 50A. When the operator's hand comes into contact with the operation unit 53A of the first medical device 50A, the detection unit 21 detects the contact of the operator's hand. When the detection unit 21 detects contact of the operator's hand, the control unit 30 stops outputting control signals to the

electromagnetic brakes

16, 17 and 18. Then, the link 6 is switched from the fixed state to the movable state. Thereby, when the operator holds the first medical device 50A, the first medical device 50A is movable with respect to the second medical device 50B.

As described above, according to the connection device 1 of the present embodiment, when the operator operates the first medical device 50A and the second medical device 50B while holding them in the hand, other medical devices or laparoscopes are used. When it becomes necessary to temporarily operate 100, the medical device 50A is released from the first medical device 50A while maintaining the positional relationship between the first medical device 50A and the second medical device 50B. 100 can be operated.

Since the connecting device 1 connects the long portion 51A of the first medical device 50A and the long portion 51B of the second medical device 50B in a substantially straight line, the space occupied by the connecting device 1 is small, and the first medical device 50A. And the connection device 1 does not easily interfere with the operation of the second medical device 50B. For this reason, even if the connection device 1 is connected to the first medical device 50A and the second medical device 50B, the operator can perform precise operation with a suitable posture with respect to the first medical device 50A and the second medical device 50B. Can do. In addition, for example, when the laparoscope 100 is operated by releasing the hand from the first medical device 50A, the connection device 1 does not interfere with the operation, and therefore the laparoscope 100 is precisely operated with a suitable posture. Can do.

If the connection device 1 does not affect the operation system of the first medical device 50A and the second medical device 50B and is familiar with the operation of each medical device 50, the connection device 1 of this embodiment is used. However, learning new operations is almost unnecessary. For this reason, it is possible to perform a precise operation using the medical device 50 familiar to the operator.

In a state where the positional relationship between the first medical device 50A and the second medical device 50B is fixed by the connection device 1, the medical device or the laparoscope 100 different from the first medical device 50A and the second medical device 50B is used. Thus, it is possible to operate with these normal operation systems. As a result, by connecting the first medical device 50A and the second medical device 50B with the connection device 1 of the present embodiment, precise operations on the medical device or the laparoscope 100 exceeding the number that the surgeon can simultaneously operate are performed. Can be realized.

Further, when the operator's hand is released from the detection unit 21 arranged in the operation unit 53A of the first medical device 50A, the connection device 1 fixes the first medical device 50A and the second medical device 50B. In a series of operations in which the laparoscope 100 is operated by releasing the hand from the first medical device 50A and holding the laparoscope 100, the operator makes the first medical device 50A and the second medical device 50B fixed. No special operation is required.

Note that the connection device 1 according to the present embodiment includes a second detection unit (not configured) arranged in the operation unit 53 of the second medical device 50B in addition to the detection unit 21 arranged in the operation unit 53A of the first medical device 50A. May be included). In this case, the first medical device 50A and the second medical device 50B can be in a fixed state when the hand is released from the second medical device 50B and replaced with the laparoscope 100 or another device. In this case, if one of the first medical device 50A and the second medical device 50B is accidentally released, the medical device 50 that has released the hand does not fall and the other medical device is dropped. The device 50 is maintained in a fixed state.

(Second Embodiment)
A second embodiment of the present invention will be described. In the following embodiments, the same components as those disclosed in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and redundant descriptions are omitted. FIG. 6 is a schematic diagram showing the connection device of this embodiment together with the medical device.

As shown in FIG. 6, the connection device 1 A of the present embodiment includes a third ball joint 13 that connects the first shaft 8 and the second shaft 9 in place of the telescopic mechanism 7 disclosed in the first embodiment. The telescopic mechanism 7A is provided.
In the present embodiment, the first shaft 8 and the second shaft 9 are not coaxial and can be bent around the spherical center of the third ball joint 13. Since the first shaft 8 and the second shaft 9 are connected to be bent by the third ball joint 13, the distance between the first holding portion 2 and the second holding portion 4 can be changed.
In the present embodiment, the first electromagnetic brake 16 of the fixing mechanism 15 limits the operation of the third ball joint 13 in accordance with the control signal from the control unit 30.

The connection device 1A of this embodiment also has the same effect as the connection device 1 disclosed in the first embodiment. Furthermore, in this embodiment, depending on the lengths of the first shaft 8 and the second shaft 9, the relative movable range of the first holding part 2 and the second holding part 4 is wider than that of the first embodiment. Can be secured. Moreover, in this embodiment, since the 1st shaft 8 and the 2nd shaft 9 are connected by the 3rd ball joint 13, the movable range of the 1st shaft 8 and the 2nd shaft 9 is more than 1st Embodiment. wide.

(Third embodiment)
A third embodiment of the present invention will be described. FIG. 7 is a schematic diagram showing the connection device of this embodiment together with the medical device.
As shown in FIG. 7, the connection device 1 B of the present embodiment is different from the first embodiment in the structures of the first holding unit 2 and the second holding unit 4. Furthermore, the connection device 1 B of the present embodiment has a first trocar unit 22 and a second trocar unit 25.

The first holding part 2 can be attached to and detached from the first trocar part 22. The 1st holding | maintenance part 2 of this embodiment is fixable to the elongate part 51A of 50 A of 1st medical devices similarly to 1st Embodiment.

The second holding part 4 can be attached to and detached from the second trocar part 25. The 2nd holding | maintenance part 4 of this embodiment is fixable to the elongate part 51B of 2nd medical device 50B similarly to 1st Embodiment.

The first trocar portion 22 includes a cylindrical portion 23 that can be inserted into the body wall so as to penetrate the body wall, and a flange portion 24 formed at an end portion of the cylindrical portion.
The flange portion 24 of the first trocar portion 22 can be connected to the first holding portion 2 so that the first holding portion 2 and the cylindrical portion 23 are coaxial.
In a state where the first trocar part 22 and the first holding part 2 are connected at the flange part 24, the long part 51 A inserted into the first holding part 2 is also inserted into the cylindrical part 23 of the first trocar part 22. Is done.

The second trocar portion 25 includes a cylindrical portion 26 that can be inserted into the body wall so as to penetrate the body wall, and a flange portion 27 formed at an end portion of the cylindrical portion.
The flange part 27 of the second trocar part 25 can be connected to the second holding part 4 so that the second holding part 4 and the cylindrical part 26 are coaxial.
In a state where the second trocar portion 25 and the second holding portion 4 are connected at the flange portion 27, the long portion 51 B inserted into the second holding portion 4 is also inserted into the cylindrical portion 26 of the second trocar portion 25. Is done.

The operation of the connection device 1B of this embodiment will be described.
When using the connection device 1B of the present embodiment, first, the operator places the first trocar unit 22 and the second trocar unit 25 on the body wall of the patient. Subsequently, the operator connects the first holding unit 2 to the first trocar unit 22 and connects the second holding unit 4 to the second trocar unit 25. Further, the operator fixes the long portion 51A of the first medical device 50A to the first holding unit 2 similarly to the first embodiment, and the second medical device to the second holding unit 4 similarly to the first embodiment. The long part 51B of 50B is fixed. In this state, the treatment unit 52 of each medical device 50 can be disposed at an appropriate position in the patient's body.

In the present embodiment, the first medical device 50 A fixed to the first holding unit 2 can swing about the first trocar unit 22, and the axis of the cylinder portion 23 of the first trocar unit 22. It can advance and retreat in the direction, and can rotate around the axis of the cylinder portion 23 of the first trocar portion 22 as the center of rotation.
In the present embodiment, the second medical device 50B fixed to the second holding unit 4 can swing about the second trocar unit 25 as a swing center. It is possible to advance and retreat in the axial direction, and it is possible to rotate about the axis of the cylindrical portion 26 of the second trocar portion 25 as the center of rotation.

The first medical device 50 A and the second medical device 50 B are movable with respect to each other within the range of restraint conditions in the

trocar units

22 and 25 and within the movable range of the link 6.

The connection device 1B of this embodiment also has the same effect as the connection device 1 disclosed in the first embodiment.

Further, in the present embodiment, the first trocar portion 22 and the first holding portion 2 are connected coaxially with each other, and the second trocar portion 25 and the second holding portion 4 are coaxial with each other. It is connected. At this time, for example, when the long part 51 A of the first medical device 50 A is inserted into the first holding part 2, the long part 51 is also inserted into the cylindrical part 23 of the first trocar part 22. Similarly, when the elongated part 51B of the second medical device 50B is inserted into the second retaining part 4, the second retaining part 4 and the second trocar part 25 are also elongated in the cylindrical part 26 of the second trocar part 25. Part 51B is inserted. As a result, according to the connection device 1B of the present embodiment, the operations of attaching the first medical device 50A and the second medical device 50B to the connection device 1B and inserting each medical device 50 into the body are simple.

(Fourth embodiment)
A fourth embodiment of the present invention will be described. FIG. 8 is a schematic diagram showing the connection device of this embodiment together with the medical device.
As shown in FIG. 8, the connection device 1 C of the present embodiment is different from the first embodiment in the structure of the link 6 and the fixing mechanism 15.

The link 6 includes a flexible bending tube 14. That is, the link 6 is curved and deformed freely as a whole, thereby connecting the first holding part 2 and the second holding part 4 so as to be relatively movable. The bending tube 14 has a plurality of joints 14 x arranged side by side in the center line direction of the bending tube 14. Two adjacent joints 14x among the plurality of joints 14x can slide relative to each other or can move relative to each other with a slight gap.

The fixing mechanism 15 includes a wire 19 having a first end portion 19 a and a second end portion 19 b and arranged along the center line of the bending tube 14, and an actuator 20 connected to the first end portion 19 a of the wire 19. And have.

In the present embodiment, for example, the actuator 20 is disposed at the end 14a on the first holding portion 2 side of both ends of the bending tube 14. The second end portion 19 b of the wire 19 is disposed at the end 14 b on the second holding portion 4 side of both ends of the bending tube 14.

Actuator 20 pulls wire 19 in accordance with a control signal from control unit 30. When the actuator 20 pulls the wire 19, a force that shortens the entire length of the bending tube 14 is transmitted from the wire 19 to the bending tube 14, and the joints 14 x of the bending tube 14 are in close contact with each other. As a result, when the actuator 20 pulls the wire 19, the free movement of the plurality of joints 14 x is restricted, so that the bending tube 14 is fixed so that the shape of the bending tube 14 does not change. When the pulling of the wire 19 by the actuator 20 is canceled by stopping the control signal, the plurality of joints 14x can freely move relative to each other, so that the bending tube 14 can be bent freely.

That is, in the present embodiment, the fixing mechanism 15 can switch the fixed state and the movable state of the bending tube 14.

The connection device 1C of the present embodiment also has the same effect as that of the first embodiment. As a result, since the choices of the arrangement of the first and second medical devices increase, the posture and the like that the operator can take increases, so that the operator's fatigue is reduced.

The embodiment of the present invention has been described in detail above with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within a scope not departing from the gist of the present invention are included.

For example, a foot switch for operating the fixing mechanism disclosed in each of the above embodiments may be connected to the control unit. For example, during the treatment using the first and second medical devices, the first and second medical devices can be operated freely by keeping the foot switch open. The first and second medical devices can be fixed by the connecting device by stepping on the foot switch when releasing the hand from the medical device.

In each of the above embodiments, a connection device that connects two medical devices to each other is disclosed, but the connection device may connect one medical device and one laparoscope to each other. The connection device in this case can be suitably used when an operator (scopist) who operates the laparoscope operates the medical device together with the laparoscope. For example, as shown in FIG. 9, an example of a medical device connected to the laparoscope 100 by the connection device 1 may include an exclusion device 110 that moves an internal organ in order to secure a surgical field. In this case, by setting the positional relationship between the exclusion device 110 and the laparoscope 100 to be fixed by the connection device 1, it is possible to perform the work of securing the visual field of the laparoscope 100 using the exclusion device 110 with one hand. You can do other work with your free hand.

In each of the above embodiments, a connection device that connects two medical devices to each other is disclosed, but the connection device may be configured to connect three or more connection devices to each other. That is, a connection device that has a third holding portion in addition to the first holding portion and the second holding portion, and each holding portion is connected by a link, also has the same effect as the above embodiments.

Also, three medical devices can be connected to each other using two connection devices disclosed in the above embodiments.

In addition, the constituent elements shown in the above-described embodiments can be combined as appropriate.

The present invention can be used as a connection device for connecting a plurality of medical devices to each other.

1, 1A, 1B, 1C Connection device 2 First holding part 3 Through hole 4 Second holding part 5 Through hole 6

Link

7, 7A Telescopic mechanism 8 First shaft 9 Second shaft 10 Turning mechanism 11 First ball joint 12 Second ball joint 13 Third ball joint 14 Bending tube 15 Fixing mechanism 16 First electromagnetic brake 17 Second electromagnetic brake 18 Third electromagnetic brake 19 Wire 20 Actuator 21 Detection unit 22 First trocar unit 23 Tube unit 24 Flange unit 25 First Two trocar parts 26 Tube part 27 Flange part 30 Control part 50A (50) First medical device 50B (50) Second medical device 51 (51A, 51B) Long part 52 (52A, 52B) Treatment part 53 (53A, 53B) Operation part

Claims

A first holding unit for holding the first medical device;
A second holding unit for holding the second medical device;
A link connecting the first holding part and the second holding part;
A fixing mechanism including a brake for fixing the link;
A detection unit for detecting whether or not the holding of the first medical device by an operator operating the first medical device has been eliminated;
A control unit that controls the fixing mechanism so as to fix the link when the detection unit detects that the holding of the first medical device by the operator has been canceled;
Connected device with.
The link is
A telescopic mechanism capable of changing a distance between the first holding unit and the second holding unit;
A rotation mechanism capable of rotating around at least two axes;
Have
The connection device according to claim 1, wherein the brake fixes the expansion / contraction mechanism and the rotation mechanism according to the control by the control unit at an arbitrary position in a movable range of each mechanism.
The first medical device has a rod-like long part,
The first holding part is configured so that the long part can advance and retreat with respect to the first holding part in the center line direction of the long part, or the center line of the long part is used as a rotation center. Holding the elongate part such that the elongate part is rotatable relative to the first holding part;
The connection device according to claim 1, wherein the fixing mechanism includes a second brake for fixing the first holding portion to the long portion based on the control by the control portion.
The first medical device has a rod-like long part,
The first holding part is
A first gripping member having a first contact surface capable of contacting a part of the outer peripheral surface of the elongated portion;
It has a second contact surface that can come into contact with another part of the outer peripheral surface of the long portion, and is connected to the first gripping member so as to use a straight line parallel to the center line of the long portion as an opening / closing axis A second gripping member;
The connection device according to claim 1.
The first holding part has a first trocar part that can be placed on the body wall,
The connection device according to claim 1, wherein the second holding portion includes a second trocar portion that can be placed on a body wall.
The connection device according to claim 1, wherein the link includes a bending tube that can be freely bent by connecting the first holding unit and the second holding unit.
The detection unit is arranged in an operation unit that is touched by an operator to perform treatment using the first medical device,
The connection device according to claim 1, wherein the detection unit detects whether or not the holding of the first medical device has been canceled based on the presence or absence of contact of the operator's hand.