WO2021070593A1 - Forceps shaft replacement device and multi-dof forceps - Google Patents

Abstract

This forceps shaft replacement device has: a shaft-side connector 10 that is provided on the rear end side of a shaft having an operating unit and has shaft-side engagement members 11a, 11b, 11c, 11d connected to shaft-side wires 7a, 7b, 8a, 8b for driving the operating unit; and an operation unit-side connector 20 that is detachably attached to the shaft-side connector 10 and has operation unit-side engagement members 21a, 21b, 21c, 21d respectively connected to operation unit-side wires 7c, 7d, 8c, 8d for remotely operating the operating unit from an operation unit. By attaching/detaching the shaft-side connector 10 and the operation unit-side connector 20 to/from each other, the shaft-side engagement members 11a, 11b, 11c, 11d and the operation unit-side engagement members 21a, 21b, 21c, 21d are integrally engaged with/disengaged from each other.

Description

Forceps shaft exchange device and multi-degree-of-freedom forceps

According to the present invention, a forceps shaft replacement mounted on a medical forceps device for remotely controlling an operating portion provided on the tip end side of the shaft from an operating portion provided on the rear end side of the shaft through a wire penetrating the shaft. Regarding the device. Further, the present invention relates to a forceps shaft exchanging device that enables the operating portion and the shaft to be integrally attached to and detached from the unit on the operating portion side and exchanged.

The multi-degree-of-freedom forceps is an example of a medical forceps device used in arthroscopic surgery, which is one of the minimally invasive surgeries with less physical burden on the patient. In multi-degree-of-freedom forceps, the actuating part that performs surgery is connected to the tip of the shaft via a multi-degree-of-freedom joint structure, and the operating part that remotely controls the actuating part is directly to the rear end side of the shaft or multi-degree-of-freedom. It is connected via the joint structure of. The operator operates the operation part outside the patient's body while observing the video image taken by the high-definition camera inserted in the patient's body, and remotely controls the operation part inserted in the patient's body. Perform actions according to the application of the multi-degree-of-freedom forceps, such as pinching, cutting, moving, heating, illuminating, and photographing internal tissues.

The multi-degree-of-freedom forceps described in Patent Document 1 has a working portion provided on the tip end side of the shaft via a tip end side rotating portion, and is rearward to the rear end side of the shaft through four wires penetrating the shaft. It is designed to be remotely controlled from an operation unit provided via an end-side rotating unit. As a result, the operating portion is swung with multiple degrees of freedom on the tip side of the shaft. However, in the multi-degree-of-freedom forceps of Patent Document 1, since a continuous wire is stretched between the operating portion and the operating portion, the shaft and the operating portion cannot be separated from the operating portion. Therefore, it is not possible to exchange and use a plurality of types of shafts and operating parts in a common operating part.

On the other hand, the multi-degree-of-freedom forceps described in Patent Document 2 is equipped with a forceps shaft exchanging device in order to exchange and use a plurality of types of shafts and operating portions in a common operating portion. The forceps shaft device is provided with a shaft-side connector on the rear end side of the shaft having the operating portion, and an operating portion-side connector on the tip end side of the operating portion that remotely controls the operating portion. In the forceps shaft device, by attaching and detaching the shaft side connector and the operation part side connector, it is possible to exchange and use various types of shafts and actuating parts for a common operation part.

Special Table 2011-525839 Japanese Unexamined Patent Publication No. 2010-253162

In the multi-degree-of-freedom forceps of Patent Document 2, the rod that remotely controls the operating portion from the operating portion is connected / disconnected when the connector on the operating portion side is attached / detached to the connector on the shaft side. However, here, the rotation of the two-loop wire for swinging the operating portion with respect to the shaft is connected / disconnected to the rotating shaft on the operating portion side by the clutch mechanism provided on the rotating shaft of the shaft-side connector. ing. Therefore, the forceps shaft exchanging device of Patent Document 2 can connect / disconnect at least two shaft-side wires to / from the respective operation unit-side wires when the shaft-side connector and the operation unit-side connector are attached / detached. Can not. Since the forceps shaft exchanging device of Patent Document 2 is provided independently for each rod and is attached / detached for each rod, at least two shaft-side wires are connected / disconnected to the respective operation unit-side wires. Can not do it.

The present invention provides a forceps shaft exchanging device capable of connecting / disconnecting at least two shaft-side wires to / from the respective operation unit-side wires when the operation unit-side connector is attached / detached to / from the shaft-side connector. The purpose is.

The present invention is an invention that solves the above problems and is as follows.
[1] A device for exchanging a shaft of a forceps, which is provided on the rear end side of a shaft having an operating portion and is connected to at least two predetermined number of shaft-side wires for driving the operating portion. It is connected to a shaft side connector having a predetermined number of shaft side engaging members and a predetermined number of operation unit side wires that are detachable from the shaft side connector and remotely operate the operating unit from the operation unit. The operation unit side connector having the predetermined number of operation unit side engagement members, and the predetermined number of shaft side engagements with the attachment / detachment operation of the shaft side connector and the operation unit side connector. A forceps shaft exchange device that integrally engages / disengages a member and the predetermined number of operation unit side engaging members.

[2] The predetermined number of shaft-side engaging members and the predetermined number of the predetermined number of shaft-side engaging members are integrally supported and rotated with respect to the shaft-side connector around a predetermined rotating shaft. The forceps shaft exchanging device according to [1], which has a rotating member that integrally engages / disengages with the operating portion side engaging member of

[3] The predetermined number of shaft-side engaging members are slidably supported by the shaft-side connector main body, and are slidably provided in the shaft-side connector main body in parallel with the predetermined number of shaft-side engaging members. A slide member that comes into contact with the predetermined number of shaft-side engaging members during a slide operation and positions the predetermined number of shaft-side engaging members at a predetermined position capable of engaging with the predetermined number of operating unit-side engaging members. The forceps shaft exchange device of [2].

[4] The predetermined number of operation unit side engaging members are slidably supported by the rotating member, and are provided for each operation unit side engaging member in the rotating member, and the operating unit side engaging member is provided. The forceps shaft exchanging device according to [3], which has a positioning spring for positioning the member at a position capable of engaging with the shaft-side engaging member at a predetermined position.

[5] The rotating member is provided so as to be rotatable around the predetermined rotation axis with respect to the operation unit side connector body that can be attached to and detached from the shaft side connector body, and is provided with respect to the operation unit side connector body. [2] to [4], which are opening / closing members that disengage / engage the predetermined number of shaft-side engaging members and the predetermined number of operating unit-side engaging members with the opening / closing operation. The forceps shaft exchange device according to any one of the above items.

[6] The shaft-side engaging member includes a rod whose tip end side is connected to the shaft-side wire and an engaging piece which is fixed to the rear end side of the rod and can be engaged with the operation portion-side engaging member. The forceps shaft exchange device according to [5], wherein the shaft-side engaging member has the engaging piece supported by the rod protruding from the rear end of the shaft-side connector main body.

[7] It has a relay pulley provided on the same rotating shaft and relaying by stretching at least two operation unit side wires in parallel, respectively, and the opening / closing member rotates around the rotating shaft of the relay pulley. The forceps shaft exchange device of [5] or [6] that opens and closes the tip side.

[8] An urging member that urges the tip end side of the opening / closing member to open outward, and the opening / closing member that is slidably provided on the operation unit side connector body and resists the urging of the urging member. The shaft-side connector has a slide lock member capable of holding a locked state for locking the operation unit-side connector and releasing the locked state with the slide, [5] to The forceps shaft changing device according to any one of [7].

[9] The rotating member is an operation unit side connector main body of the operation unit side connector, and is detachably connected to the shaft side connector main body of the shaft side connector main body by the predetermined rotating shaft. As the operation unit-side connector body rotates with respect to the shaft-side connector body, the predetermined number of shaft-side engagement members and the predetermined number of operation unit-side engagement members are disengaged / engaged. ] Force shaft exchange device.

[10] A slide that is slidably provided with respect to the shaft-side connector body and locks the operation-side connector body and the shaft-side connector body by sliding and engaging with the operation-side connector body. The forceps shaft changing device of [9] having a lock member.

[11] The process of releasing the lock between the operation unit side connector body and the shaft side connector body by sliding the slide lock member provided between the operation unit side connector body and the shaft side connector body. [10] The forceps shaft exchanging device according to [10], which has a temporary fixing mechanism for temporarily fixing the rotational state of the operation unit side connector main body and the shaft side connector main body.

[12] [1] to [11] A multi-degree-of-freedom forceps having a forceps shaft changing device.

According to the forceps shaft exchanging device of [1], at least two sets of shaft-side engaging members and a predetermined number of operating-side engaging members are associated with the attachment / detachment operation of the operation unit-side connector with respect to the shaft-side connector. To engage / disengage. Therefore, at least two shaft-side wires can be connected / disconnected to the respective operation unit-side wires as the operation unit-side connector attaches / detaches to the shaft-side connector.

According to the forceps shaft exchange device of [2], a predetermined number of shaft-side engaging members and a predetermined number of operations are performed as the rotating members that rotate with respect to the shaft-side connector around a predetermined rotating shaft rotate. Since the part-side engaging member is engaged / disengaged, the forceps shaft exchange device can be compactly configured.

According to the forceps shaft exchange device of [3], the slide member can slide a predetermined number of shaft-side engaging members integrally with one slide and engage with each operating portion-side engaging member. Position to position. Therefore, it is not necessary to slide a predetermined number of shaft-side engaging members individually to position them in the sliding direction.

According to the forceps shaft exchange device of [4], the urging force of the positioning spring slides the operating portion side engaging member individually on the rotating member and positions the positioning spring at a position where it can be engaged with each shaft side engaging member. Therefore, it is not necessary to individually slide and position a predetermined number of operation unit side engaging members.

According to the forceps shaft exchange device of [5], a predetermined number of shaft-side engaging members and a predetermined number of operating unit-side engaging members are engaged / engaged with each other as the opening / closing member is opened / closed with respect to the operation unit-side connector body. Since it is released, the state of connecting / disconnecting a predetermined number of shaft-side wires and a predetermined number of operation unit-side wires is clear from the appearance of the opening / closing member.

According to the forceps shaft exchange device of [6], since the shaft-side engaging member projects the engaging piece supported by the rod from the rear end of the shaft-side connector main body, the operating portion-side engaging member engages. It is not necessary to provide a member that supports the shaft-side engaging member on the opposite side of the direction of the shaft.

According to the forceps shaft exchange device of [7], it is possible to share the rotation shaft of the opening / closing member with the rotation shaft of the relay pulley.

According to the forceps shaft exchange device of [8], when the lock of the operation unit side connector by the slide lock member is released, the opening / closing member is urged by the urging member to open the opening / closing member, and each operation unit side engaging member is released. The engagement with each shaft side engaging member is released.

According to the forceps shaft exchange device of [9], a predetermined number of shaft-side engaging members and a predetermined number of operating unit-side engaging members are engaged with each other as the operation unit-side connector body rotates with respect to the shaft-side connector body. / Disengage. Therefore, it is not necessary to provide a rotating member and an opening / closing member other than the connector body on the operation unit side, the number of parts of the forceps shaft exchange device is reduced, and the mechanism can be easily miniaturized.

According to the forceps shaft exchange device of [10], when the lock of the operation unit side connector body is released by the slide lock member, the operation unit side connector body can be opened with respect to the shaft side connector body. Therefore, the structure of the forceps shaft and the procedure of the replacement work can be intuitively understood, and work mistakes can be reduced.

According to the forceps shaft exchange device of [11], the postures of the operation unit side connector body and the shaft side connector body are stable in the process of unlocking the operation unit side connector body and the shaft side connector body by sliding the slide lock member. doing. Therefore, the workability when replacing the forceps shaft is excellent.

According to the multi-degree-of-freedom forceps of [12], at least two shaft-side wires can be connected / disconnected to the respective operation unit-side wires as the operation unit-side connector attaches / detaches to the shaft-side connector. it can.

It is a perspective view which shows the whole appearance structure of the multi-degree-of-freedom forceps of Embodiment 1, which is an example of Embodiment of this invention. It is explanatory drawing of the remote control of the operating part which schematically illustrated the tension structure of the wire in the multi-degree-of-freedom forceps of Embodiment 1. FIG. (A) is a plan view, and (b) is a side view. It is explanatory drawing of the structure of the appearance of the forceps shaft in the multi-degree-of-freedom forceps of Embodiment 1. FIG. (A) is an overall perspective view, and (b) is a perspective view of the shaft-side connector. It is explanatory drawing of the structure of the operation part and the operation part side connector in the multi-degree-of-freedom forceps of Embodiment 1. FIG. (A) is a plan sectional view, and (b) is a side sectional view. It is an exploded perspective view of the shaft side connector in the forceps shaft exchange device of the multi-degree-of-freedom forceps of Embodiment 1. FIG. It is an exploded perspective view of the connector on the operation part side in the forceps shaft exchange device of the multi-degree-of-freedom forceps of the first embodiment. (A) is a perspective view of the operation unit side connector, (b) is a perspective view of the operation unit side engaging member, and (c) is a perspective view of the operation unit side engaging member viewed from another angle. It is a side sectional view explaining the opening / closing operation of the opening / closing member in the multi-degree-of-freedom forceps of the first embodiment. (A) is a state in which the opening / closing member is locked by the slide lock member, and (b) is a state in which the opening / closing member is unlocked by the slide lock member. It is a side sectional view explaining the opening / closing operation of the opening / closing member in the multi-degree-of-freedom forceps of the first embodiment, and is a state in which the shaft side connector is pulled out from the operation part side connector and separated. It is explanatory drawing which shows the whole appearance structure of the multi-degree-of-freedom forceps of Embodiment 2 which concerns on an example of Embodiment of this invention. (A) is a plan view, and (b) is a side view. It is a perspective view explaining the appearance and operation of the shaft side connector in the forceps shaft exchange apparatus of the multi-degree-of-freedom forceps of Embodiment 2. FIG. (A) is a state in which the slide lock member is slid toward the rear end side, and (b) is a state in which the slide lock member is slid toward the front end side. It is a perspective view explaining the appearance and operation of the connector on the operation part side in the forceps shaft exchange device of the multi-degree-of-freedom forceps of the second embodiment. It is an exploded perspective view of the operation part side connector and the shaft side connector in the forceps shaft exchange device of the multi-degree-of-freedom forceps of Embodiment 2. (A) is an exploded perspective view of the operation unit side connector, and (b) is a perspective view of the operation unit side engaging member. It is explanatory drawing of the relative rotation of the operation part side connector and the shaft side connector in the forceps shaft exchange device of the multi-degree-of-freedom forceps of Embodiment 2. FIG. (A) is when the operation unit side connector and the shaft side connector are in a straight line state, and (b) is when the operation unit side connector is rotated with respect to the shaft side connector.

Hereinafter, embodiments of the multi-degree-of-freedom forceps of the present invention will be described in detail with reference to the attached drawings.

(Embodiment 1)
As shown in FIG. 1, the multi-degree-of-freedom forceps 1 used for arthroscopic surgery is an actuating portion (end effector) inserted into the patient's body via the distal end side rotating portion 3 on the distal end side of the shaft 4. 2 is provided, and an operation unit 6 manually operated by an operator (operator) via a rear end side rotating portion 5 is provided on the rear end side of the shaft 4. In endoscopic surgery, the operator inserts an endoscopic camera equipped with a high-resolution camera and multiple multi-degree-of-degree forceps 1 into the patient's body, and displays the captured internal image on the monitor screen in the operating room. , The multi-degree-of-freedom forceps 1 is remotely operated from outside the patient's body to perform a surgical operation by the operating unit 2.

The operator manually operates the operating unit 6 outside the patient's body with the operating unit 2 of the multi-degree-of-freedom forceps 1 inserted into the patient's body and the operating unit 2 reaches the surgical position. The operation unit 6 is provided with finger hooks 6b and 6c that the operator operates by inserting the thumb and index finger. The first forceps piece 2b and the second forceps piece 2c of the operating portion 2 open and close and swing and rotate in the patient's body to perform an operation.

In the multi-degree-of-freedom forceps 1, the tip side rotating portion 3 is fixed to the tip end side of the shaft 4, and the operating portion 2 can rotate around the rotation shaft 3a with respect to the tip end side rotating portion 3. The multi-degree-of-freedom forceps 1 can rotate the operation unit 6 around the rotation shaft 5a with respect to the rear end side rotation unit 5 arranged on the rear end side of the shaft 4. The operating unit 2 and the operating unit 6 are mechanically connected by a wire (not shown), and the operation content of the operating unit 6 is transmitted to the operating unit 2 via four parallel wires penetrating the shaft 4.

(Wire tension configuration)
2 (a) and 2 (b) are schematically illustrated by abstracting the wire tension configuration used for remote control of the operating unit 2. Therefore, although the size ratio and shape of each part of the multi-degree-of-freedom forceps 1 are different from those in FIG. 1, the members with the same reference numerals are the same members.

The wires 7 and 8 are stretched between the drive pulleys 6d and 6e and the driven pulleys 2d and 2e, and transmit the rotation of the drive pulleys 6d and 6e to the driven pulleys 2d and 2e, respectively.

The wires 7 and 8 form loops, respectively, to rotate the driven pulleys 2d and 2e and the drive pulleys 6d and 6e in an interlocking manner. The wires 7 and 8 are manufactured by twisting stainless steel core wires, follow the rotation of the drive pulleys 6d and 6e with little resistance, and follow the shaft 4, the tip side rotating portion 3, the rear end side rotating portion 5, and the driven pulley. The 2d and 2e are easily bent, and the operation content input by the operation unit 6 is transmitted to the operation unit 2 with high responsiveness.

The operating portion 2 can swing and rotate in the vertical direction about the rotating shaft 3a with respect to the tip-side rotating portion 3 (including the rotating shaft 3b) fixed to the tip 4a of the shaft 4. The tip-side rotating portion 3 is provided with four relay pulleys 3c and 3d that rotate independently as described later, and the wires 7 and 8 are crossed up and down between the relay pulleys 3c and 3d. .. This is because the wires 7 and 8 are lifted from the relay pulley 3c and do not come off as the operating portion 2 rotates.

The operation unit 6 can swing and rotate in the vertical direction about the rotation shaft 5a with respect to the rear end side rotating unit 5 fixed to the rear end 4b of the shaft 4. The rear end side rotating portion 5 is provided with four relay pulleys 5c and 5d that rotate independently as described later, and the wires 7 and 8 are crossed vertically between the relay pulleys 5c and 5d. There is. This is because the wires 7 and 8 are lifted from the relay pulley 5c and do not come off as the operation unit 6 rotates.

As shown in FIG. 2A, when the finger hooks 6b and 6c are rotated in the same direction around the rotation shaft 6a in the operation unit 6, the drive pulleys 6d and 6e and the driven pulleys 2d and 2e rotate in the same direction. Then, in the operating portion 2, the first forceps piece 2b and the second forceps piece 2c integrally swing and rotate in the horizontal plane around the rotation axis 2a.

As shown in FIG. 2B, when the operation unit 6 is rotated counterclockwise around the rotating shaft 5a and rotated upward with the position of the shaft 4 fixed, the rotating shaft 3a is used as the center. The operating portion 2 rotates counterclockwise and rotates downward in the vertical plane. Further, when the operating portion 6 is rotated clockwise around the rotating shaft 5a and rotated downward, the operating portion 2 rotates clockwise around the rotating shaft 3a and rotates upward in the vertical plane. ..

As shown in FIG. 2A, when the operation unit 6 is rotated around the rotation shaft 6a so as to open and close the finger hooks 6b and 6c, the drive pulleys 6d and 6e rotate in opposite directions and the driven pulleys are rotated. 2d and 2e also rotate in opposite directions, and the first forceps piece 2b and the second forceps piece 2c open and close and rotate around the rotation axis 2a in the operating portion 2.

The present invention relates to a wire attachment / detachment mechanism in a forceps shaft using a wire, and does not relate to a swing mechanism and an opening / closing mechanism of the first forceps piece 2b and the second forceps piece 2c. Therefore, in order to avoid complication of the drawings, the drawings of the operating portion 2, the tip-side rotating portion 3, the shaft 4, and the operating portion 6 are simplified or omitted in FIGS. 3 and 3 and below. In the following description, the description of the structure and operation of the operating unit 2, the tip-side rotating unit 3, the shaft 4, and the operating unit 6 is omitted.

As shown in FIGS. 2A and 2B, shaft- side wires 7a, 7b, 8a, and 8b are provided so as to penetrate the inside of the shaft 4. The shaft- side wires 7a and 7b are both ends of the wire 7 folded back by the driven pulley 2d of the operating portion 2. The shaft- side wires 8a and 8b are both ends of the wire 8 folded back by the driven pulley 2e of the operating portion 2. On the other hand, in the operation unit 6, the operation unit side wires 7c, 7d, 8c, 8d are provided by being folded back by the drive pulleys 6d and 6e. The operating unit side wires 7c and 7d are both ends of the wire 7 folded back by the drive pulley 6d. The operating unit side wires 8c and 8d are both ends of the wire 8 folded back by the drive pulley 6e.

(Forceps shaft exchange device)
As shown in FIGS. 1 and 2, in the multi-degree-of-freedom forceps 1, a forceps shaft exchange device 9 is provided between the rear end side of the shaft 4 and the front end side of the operation unit 6. The forceps shaft exchange device 9 attaches / detaches the shaft side connector 10 to / from the operation unit side connector 20 and connects the forceps shaft SH to the common operation unit 6 so as to be exchangeable.

As shown in FIGS. 3 and 4, the forceps shaft exchanging device 9 changes the shaft side wires 7a, 7b, 8a, and 8b to the operation unit side wires 7c as the shaft side connector 10 and the operation unit side connector 20 are attached and detached. Connects / disconnects to 7d, 8c, and 8d integrally.

The shaft-side connector 10 is fixed to the rear end side of the shaft 4 having the operating portion 2, and is connected to at least two shaft- side wires 7a, 7b, 8a, 8b that drive the operating portion 2. The operation unit side connector 20 is fixed to the tip side of the operation unit 6 that remotely controls the operation unit 2, is detachable from the shaft side connector 10, and is attached / detached to / from the shaft side connector 10, respectively. The shaft side wires 7a, 7b, 8a, 8b of the above are connected / disconnected to the operation unit side wires 7c, 7d, 8c, 8d.

As shown in FIG. 3A, the forceps shaft SH has a shaft 4, an operating portion 2, and a shaft-side connector 10 integrally assembled, and is rigorously heat-sterilized in this form and sealed. It is packaged and delivered to hospitals, doctors, etc. The forceps shaft SH can be taken out of the package and attached to / detached from the operating portion 6 (rear end side rotating portion 5) shown in FIG. 1 for replacement.

As shown in FIGS. 3 (b) and 5, in the shaft-side connector 10, the cylindrical insertion portion 4s of the shaft 4 is inserted into the inserted portion (12n: FIG. 8) on the tip end side. The shaft-side connector 10 has a columnar insertion portion 12s on the rear end side, and is connected to the shaft-side wires (7a, 7b, 8a, 8b: FIG. 2), respectively, on the shaft- side engaging members 11a, 11b, 11c. , 11d is projected toward the rear end side. The shaft- side engaging members 11a, 11b, 11c, and 11d project the engaging pieces 11m, 11n, 11o, and 11p horizontally supported by the rods 11i, 11j, 11k, and 11l from the rear end of the shaft-side connector body 12. ing.

The connection tubes 11e, 11f, 11g, 11h connect the shaft side wires 7a, 7b, 8a, 8b and the rods 11i, 11j, 11k, 11l, respectively, by brazing or bonding. The connecting tubes 11e, 11f, 11g, and 11h are inserted into the slide holes 12a, 12b, 12c, and 12d formed in the shaft-side connector main body 12, and are held so as to be slidable without rattling.

The rods 11i, 11j, 11k, and 11l are hard wire materials that can maintain a linear state horizontally. The tip ends of the rods 11i, 11j, 11k, 11l are connected to the shaft side wires 7a, 7b, 8a, 8b. The engaging pieces 11m, 11n, 11o, and 11p are fixed to the rear end side of the rods 11i, 11j, 11k, and 11l. The engaging pieces 11m, 11n, 11o, and 11p are columnar metal parts having a shape and size to which the operating portion side engaging members 21a, 21b, 21c, and 21d can be engaged.

The slide member 13 is slidable toward the rear end side within the opening 12 m of the shaft side connector main body 12 by guiding the slide holes 13c and 13d at both ends to the slide shafts 14a and 14b. The slide member 13 is urged by compression coil springs 14c and 14d which are inserted into the slide shafts 14a and 14b and whose one end is brought into contact with the surface 12h, and is pressed against the surface (12g: FIG. 5). The slide member 13 can be slid toward the rear end side by pushing both ends toward the rear end side with a finger against the urging of the compression coil springs 14c and 14d. The slide shafts 14a and 14b are press-fitted into the left and right holes 12e (12e: not shown) formed in the shaft-side connector main body 12 so as to cross the opening 12 m from the tip side.

The shaft- side wires 8a and 8b penetrate and are held through the slit 13e formed in the slide member 13, and the shaft- side wires 7a and 7b are penetrated and held through the slit 13f. As the slide member 13 slides, the tip sides of the connecting tubes 11e, 11f, 11g, and 11h sequentially collide with the surface 13b of the slide member 13 to press the shaft side engaging members 11a, 11b, 11c, and 11d, and integrally. By moving the engaging pieces, the positions of the engaging pieces 11m, 11n, 11o, and 11p are aligned with the predetermined positions.

The slide range of the slide member 13 is regulated by the stepped surface 12i in the middle of the opening 12 m. By moving the slide member 13 to the stepped surface 12i, the engaging pieces 11m, 11n, 11o, 11p of the shaft side engaging members 11a, 11b, 11c, 11d become the operating portion side engaging members 21a, 21b, 21c, 21d. (See FIGS. 4 and 6), they are positioned at predetermined positions where they can be engaged with each other.

A rotation angle regulating portion 12j having a recess 12k is formed in one corner of the insertion portion 12s of the shaft side connector 10. The rotation angle regulating unit 12j is guided by a guide groove (25b: FIG. 4) provided in the operation unit side connector 20 to regulate the rotation angle of the shaft side connector 10 with respect to the operation unit side connector 20.

As shown in FIGS. 4A and 6, the inserted portion 25a formed in a cylinder shape on the tip end side of the operation portion side connector main body 25 is rattled by inserting the insertion portion 12s of the shaft side connector 10. Hold without sticking. The guide groove 25b formed following the inserted portion 25a is rubbed against the side surface of the rotation angle restricting portion 12j of the shaft side connector 10 to regulate the rotation angle of the operation portion side connector 20 with respect to the shaft side connector 10.

A ball latch 28 is provided by projecting the ball 28b into the guide groove 25b. The ball latch 28 is composed of a ball 28b regulated at the inlet of the hole 28a, a compression coil spring 28c for urging the ball 28b, and a screw plug 28d fixed to the hole 28a. The ball latch 28 projects the ball 28b into the guide groove 25b, holds the ball 28b so as to be retractable into the hole 28a, and engages the ball 28b with the recess 12k of the rotation angle regulating portion 12j. The ball latch 28 is a shaft-side connector to the operation unit-side connector 20 before and after the operation unit- side engagement members 21a, 21b, 21c, 21d with respect to the shaft- side engagement members 11a, 11b, 11c, 11d. 10 is temporarily fixed and positioned at a predetermined position in the slide direction.

The operation unit side engaging members 21a, 21b, 21c, 21d are attached to the slide grooves 22e, 22f, 23e, 23f of the opening / closing members 22 and 23, and are guided so as to be slidable. The operation unit side engaging members 21a, 21b, 21c, 21d are connected to the operation unit side wires (7c, 7d, 8c, 8d: FIG. 2).

The opening / closing members 22 and 23 can be opened and closed symmetrically vertically with respect to the connector body 25 on the operation unit side by rotating around the rotation shaft 5b. The opening / closing members 22 and 23 are opened / closed in the vertical direction with respect to the operation unit side connector main body 25, and the shaft side engagement members 11a, 11b, 11c, 11d and the operation unit side engagement members 21a, 21b, 21c, 21d. And are integrally disengaged / engaged.

The opening / closing members 22 and 23 are examples of rotating members, and are visually opened / closed with rotation, and the members hidden inside in the closed state are exposed to be visible or contactable from the outside in the open state. Functions have been added. Therefore, the opening / closing member has the following effects that cannot be achieved by a simple rotating member. The open state and the closed state can be visually distinguished. In the closed state, the shaft- side engaging members 11a, 11b, 11c, 11d and the operating portion- side engaging members 21a, 21b, 21c, 21d can be prevented from being exposed or contaminated. Then, in the open state, these engaged states and positioning states can be visually recognized or manually adjusted.

Insert the rotary shaft 5a through the holes 5e and 5e formed in the support portions 6g and 6g of the frame 6f of the operation unit 6 and the holes 5i and 5i of the connector body 25 on the operation unit side, and insert both ends of the rotary shaft 5a. By tightening, the frame 6f is rotatably connected to the frame 5f of the operation unit side connector main body 25. At this time, the relay pulleys 5t, 5u, 5v, and 5w can be rotated with respect to the frame 5f by penetrating the rotation shaft 5a with the relay pulleys 5t, 5u, 5v, and 5w sandwiched between the support portions 6g and 6g. It is supported.

The opening / closing members 22 and 23 are formed in the same shape. The ventral surfaces of the opening / closing members 22 and 23 are opposed to each other, and the holes 22g and 22g formed in the opening / closing member 22 and the holes 23g and 23g formed in the opening / closing member 23 are overlapped with each other to form holes 5j of the connector body 25 on the operation unit side. Position to 5j. In this state, the rotating shaft 5b is inserted and both ends of the rotating shaft 5b are crimped so that the opening / closing members 22 and 23 are rotatably connected to the operation unit side connector main body 25. At this time, by sandwiching the spacers 5g, 5h and the relay pulleys 5p, 5q, 5r, 5s at intervals of the opening / closing members 22 and 23 and passing the rotating shaft 5b, the relay pulleys 5p, 5q, 5r, 5s are attached to the frame 5f. On the other hand, it is rotatably supported.

The relay pulleys 5p, 5q, 5r, and 5s are provided on the rotating shaft 5b, and the operating unit side wires 7c, 7d, 8c, and 8d are stretched in parallel to relay. The opening / closing members 22 and 23 rotate around the rotation axes of the relay pulleys 5p, 5q, 5r, and 5s to open and close the tip side.

As shown in FIGS. 6 (b) and 6 (c), the operation unit side engaging members 21a, 21b, 21c, and 21d are formed and assembled in the same manner as the operation unit side engaging member 21. The operation unit side engaging member 21 has an upright portion 21e that sandwiches the rods 11i, 11j, 11k, and 11l (see FIG. 5) from both sides and holds them inward, and an upright portion 21e that holds the engaging pieces 11m, 11n, 11o, and 11p. The flat portion 21f, which is held between the wire connecting portion 21g and the tip surfaces of the engaging pieces 11m, 11n, 11o, 11p to engage with the upright portion 21e, and the positioning springs 27a, 27b, 27c, 27d are passed through. It has a wire connecting portion 21g to which the operating portion side wires 8c, 8d, 7c, and 7d are connected.

The operating unit side engaging members 21a, 21b, 21c, 21d are slidably assembled with respect to the opening / closing member 22. The opening / closing members 22 and 23 individually slide the operating portion- side engaging members 21a, 21b, 21c and 21d along the slide grooves 22e, 22f, 23e and 23f of the opening / closing members 22 and 23.

The operating portion side engaging members 21a and 21b are inserted into the slide grooves 22e and 22f from the back surface side of the opening and closing member main body 22a, and the widening portions 21h and 21h shown in FIG. 6B are aligned with the edges of the slide grooves 22e and 22f. The bottom plate 22b is fixed to the back surface of the opening / closing member main body 22a so as to be located at a step. At this time, the positioning springs 27a and 27b inserted into the operation unit side wires 8c and 8d are dropped into the slide grooves 22e and 22f and covered with the bottom plate 22b. The bottom plate 22b is fixed by press-fitting the pins 22d at the four corners of the bottom plate 22b into the pin holes 22c at the four corners of the opening / closing member main body 22a.

The operating portion side engaging members 21c and 21d are inserted into the slide grooves 23e and 23f from the back surface side of the opening / closing member main body 23a, and the widening portions 21h and 21h shown in FIG. 6C are aligned with the edges of the slide grooves 23e and 23f. The bottom plate 23b is fixed to the back surface of the opening / closing member main body 23a so as to be located at a step. At this time, the positioning springs 27c and 27d inserted into the operation unit side wires 7c and 7d are dropped into the slide grooves 23e and 23f and covered with the bottom plate 23b. The bottom plate 23b is fixed by press-fitting the pins 23d at the four corners of the bottom plate 23b into the pin holes 23c at the four corners of the opening / closing member main body 23a.

The positioning springs 27a, 27b, 27c, 27d are sandwiched between the end faces of the slide grooves 22e, 22f, 23e, 23f of the opening / closing members 22, 23 and the operating portion side engaging members 21a, 21b, 21c, 21d. .. The positioning springs 27a, 27b, 27c, 27d can be engaged with the engaging pieces 11m, 11n, 11o, 11p of the shaft- side engaging members 11a, 11b, 11c, 11d positioned at predetermined positions by the slide member 13. The operation unit side engaging members 21a, 21b, 21c, and 21d are individually positioned at the appropriate positions.

In FIGS. 7 and 8, in order to make the drawings easier to see, the urging members 24a and 24b overlapping the other members are simplified by the contour of the alternate long and short dash line. In addition, in order to refer to the symbol in the explanation, the symbol is superimposed on the member on the back side for a part of the member located on the front side cut off in the cross-sectional view.

As shown in FIG. 7B, the opening / closing members 22 and 23 rotate around a common rotation shaft 5b in a direction in which the tip side opens outward, and the back surfaces of the opening / closing members 22 and 23 become stoppers 25c and 25d. It can rotate until it hits.

The urging members 24a and 24b indicated by the alternate long and short dash lines are a pair of compression coil springs arranged outside the engaging members 21a, 21b, 21c and 21d on the operation unit side. Both ends of the urging members 24a and 24b are submerged in the recesses 24c and (24d: not shown) of the opening and closing member 22 and the recesses 24e and 24f of the opening and closing member 23, respectively, and compressed by the opening and closing members 22 and 23. It is assembled so that it can be sandwiched between them. The urging members 24a and 24b urge the opening / closing members 22 and 23 in a direction in which the opening / closing members 22 and 23 are spaced apart and the tip end side is opened outward.

As shown in FIGS. 6 and 7 (a), the slide lock member 26 is slidably provided so as to surround the outer surface of the operation unit side connector main body 25. The slide lock member 26 can hold a locked state in which the opening / closing members 22 and 23 are closed inward against the urging of the urging members 24a and 24b to lock the operation unit side connector 20 to the shaft side connector 10. As shown in FIG. 7B, the slide lock member 26 is slid to a position where it does not overlap the opening / closing members 22 and 23, so that the opening / closing members 22 and 23 are unlocked. When the opening / closing members 22 and 23 are unlocked, the compression of the urging members 24a and 24b is released to the outside, and the opening / closing members 22 and 23 rotate around the rotation shaft 5b to move the tip side to both outer sides. It opens and integrally disengages the engaging members 21a, 21b, 21c, 21d of the operating portion side with the engaging pieces 11m, 11n, 11o, 11p of the shaft side engaging members 11a, 11b, 11c, 11d. Even if the operation unit side engagement members 21a, 21b, 21c, 21d are disengaged from the engagement pieces 11m, 11n, 11o, 11p, the operation unit side connector 20 and the shaft side connector 10 still hold the ball latch 28. It is temporarily fixed and held by engaging with the recess 12k.

(Forceps shaft replacement procedure)
First, a jig (not shown) is attached to the rear end side rotating portion 5 and the operating portion 6 to fix the open / closed state of the finger hooks 6c and 6d and the inclination of the operating portion 6 in the rear end side rotating portion 5 from the outside. As a result, the positioning springs 27a, 27b, 27c, 27d are in a neutral state without expansion and contraction, and the operation unit side engaging members 21a, 21b, 21c, 21d are arranged in a row, and this state is maintained throughout the work. To.

Subsequently, as shown in FIG. 7B, the slide lock member 26 is slid to a position where it does not overlap the opening / closing members 22 and 23 to unlock the opening / closing members 22 and 23. As a result, as described above, the tip side of the opening / closing members 22 and 23 is opened outward by being urged by the urging members 24a and 24b, and the operating portion side engaging member 21a with respect to the engaging pieces 11m, 11n, 11o and 11p. , 21b, 21c, 21d are disengaged.

Next, as shown in FIG. 8, the forceps shaft SH is moved toward the tip side to release the ball latch 28 from the recess 12k. Subsequently, the forceps shaft SH is further moved to the tip end side, and the insertion portion 12s of the shaft side connector 10 is pulled out from the insertion portion 25a. In this way, the forceps shaft changing device 9 is separated between the operation unit side connector 20 provided on the rear end side rotating portion 5 and the shaft side connector 10 provided on the shaft 4, and the operation unit side connector 20 is separated. The old forceps shaft SH is removed from.

Further, a new forceps shaft SH can be attached to the connector 20 on the operation unit side in the order shown in FIGS. 8, 7 (b) and 7 (a). First, as shown in FIG. 8, the position and rotation angle of the new forceps shaft SH are set in a state where the slide lock member 26 is slid to a position where it does not overlap the opening / closing members 22 and 23 and the opening / closing members 22 and 23 are opened outward. After adjustment, the insertion portion 12s of the shaft side connector 10 is inserted into the insertion portion 25a. Then, the ball latch 28 is engaged with the recess 12k to temporarily fix the shaft side connector 10 to the operation unit side connector 20.

Subsequently, from the position shown in FIG. 7B, the slide member 13 is slid toward the rear end side to come into contact with the connecting tubes 11e, 11f, 11g, 11h, and the slide member 13 is further moved to the stepped surface 12i. As a result, the shaft- side engaging members 11a, 11b, 11c, and 11d are arranged in a row and positioned at a predetermined position. Next, as shown in FIG. 7A, when the opening / closing members 22 and 23 are pressed from the outside with a finger to close, the engaging members 21a and 21b on the operating portion side with respect to the engaging pieces 11m, 11n, 11o and 11p , 21c, 21d are engaged, respectively. After that, the slide lock member 26 is slid to a position overlapping the opening / closing members 22 and 23 to lock the opening / closing members 22 and 23 in the closed state.

(Effect of Embodiment 1)
In the first embodiment, the shaft side engaging members 11a, 11b, 11c, 11d and the operating unit side engaging members 21a, 21b, 21c, 21d are attached / detached as the shaft side connector 10 and the operation unit side connector 20 are attached / detached. Are integrally engaged / disengaged. Therefore, as the shaft side connector 10 and the operation unit side connector 20 are attached / detached, the shaft side wires 7a, 7b, 8a, 8b are integrally attached to the operation unit side wires 7c, 7d, 8c, 8d, respectively. Can be connected / disconnected.

In the first embodiment, the opening / closing members 22 and 23, which are examples of the rotating members, integrally support the operating portion side engaging members 21a, 21b, 21c, and 21d, and are connected to the shaft side connector 10 around the rotating shaft 5b. The shaft- side engaging members 11a, 11b, 11c, 11d and the operation unit- side engaging members 21a, 21b, 21c, 21d are integrally engaged / disengaged with respect to each other. Therefore, it is possible to design a forceps shaft exchange device having a reduced friction area by using a rotating member and having high repeatability and reproducibility of engagement / disengagement with a simple mechanism having a small number of parts.

In the first embodiment, the slide member 13 is slidably provided in the shaft side connector main body 12 in parallel with the shaft side engaging members 11a, 11b, 11c, 11d, and the shaft side engaging member 11a, The shaft- side engaging members 11a, 11b, 11c, 11d are positioned in contact with the 11b, 11c, 11d at predetermined positions capable of engaging with the operating portion- side engaging members 21a, 21b, 21c, 21d. Therefore, by sliding the slide member 13 before closing the opening / closing members 22 and 23, the positions of the shaft- side engaging members 11a, 11b, 11c and 11d are aligned, and the operating portion- side engaging members 21a, 21b and 21c are aligned. , The engagement accuracy with respect to 21d can be improved.

In the first embodiment, the positioning springs 27a, 27b, 27c, 27d are provided for each of the operation unit side engaging members 21a, 21b, 21c, 21d in the opening / closing members 22, 23, and the operation unit side engaging members 21a, 21b. , 21c, 21d are positioned at positions where they can be engaged with the shaft- side engaging members 11a, 11b, 11c, 11d at predetermined positions. Therefore, the engagement accuracy and engagement reproducibility of the operation unit side engaging members 21a, 21b, 21c, 21d with respect to the shaft side engaging members 11a, 11b, 11c, 11d due to the opening and closing of the opening / closing members 22 and 23 are improved. Can be done.

In the first embodiment, the opening / closing members 22 and 23 are provided so as to be able to open / close by rotating around the rotation shaft 5b with respect to the operation unit side connector main body 25 which can be attached to / detached from the shaft side connector main body 12. The opening / closing members 22 and 23 engage the shaft- side engaging members 11a, 11b, 11c, 11 with the operating portion- side engaging members 21a, 21b, 21c, 21d as they open / close with respect to the operation unit-side connector body 25. Disengage / engage. Therefore, the connection / disconnection state of the shaft side wires 7a, 7b, 8a, 8b and the operation unit side wires 7c, 7d, 8c, 8d is clear from the appearance of opening and closing the opening / closing members 22 and 23.

In the first embodiment, the shaft- side engaging members 11a, 11b, 11c, 11d are rods 11i, 11j, 11k, 11l and rods 11i, 11j whose tip sides are connected to the shaft- side wires 7a, 7b, 8a, 8b. , 11k, 11l have engaging pieces 11m, 11n, 11o, 11p, which are fixed to the rear end side and can be engaged with the operating portion side engaging members 21a, 21b, 21c, 21d. The shaft- side engaging members 11a, 11b, 11c, and 11d project the engaging pieces 11m, 11n, 11o, and 11p supported by the rods 11i, 11j, 11k, and 11l from the rear end of the shaft-side connector body 12. .. Therefore, the engaging pieces 11m, 11n, 11o, and 11p can stand on their own and maintain a predetermined position. Then, it is not necessary to provide a member that supports the weights of the shaft- side engaging members 11a, 11b, 11c, 11d on the opposite side of the operating portion- side engaging members 21a, 21b, 21c, 21d in the engaging direction. Even without such a member, the opening / closing members 22 and 23 can maintain the state in which the operating portion side engaging members 21a, 21b, 21c and 21d are engaged with the engaging pieces 11m, 11n, 11o and 11p from above and below. ..

In the first embodiment, relay pulleys 5p, 5q, 5r, and 5s are provided on the rotating shaft 5b, and the operating unit side wires 7c, 7d, 8c, and 8d are stretched in parallel to relay. The opening / closing members 22 and 23 rotate around the rotation shaft 5b of the relay pulleys 5p, 5q, 5r, and 5s to open and close the tip side. Therefore, it is possible to reduce the size of the mechanism by sharing the rotating shafts of the opening / closing members 22 and 23 with the rotating shafts 5b of the relay pulleys 5p, 5q, 5r, and 5s.

In the first embodiment, the slide lock member 26 is slidably provided on the urging members 24a and 24b that urge the tip ends of the opening / closing members 22 and 23 to open outward and the connector body 25 on the operation unit side. There is. Therefore, it is not necessary to provide a slide block member on the forceps shaft, the number of parts of the forceps shaft as a replacement part is reduced, and the convenience of disinfecting and cleaning the forceps shaft is improved.

In the first embodiment, the slide lock member 26 is in a locked state in which the opening / closing members 22 and 23 are closed inward against the urging of the urging members 24a and 24b to lock the operation unit side connector 20 to the shaft side connector 10. Can be held and the locked state can be released with the slide. Therefore, the width and height of the operation unit side connector 20 including the urging members 24a and 24b, the opening / closing members 22 and 23, and the slide lock member 26 can be reduced to design a compact forceps shaft exchange device 9.

(Embodiment 2)
In the first embodiment, an embodiment of the forceps shaft exchange device 9 for opening and closing a pair of upper and lower opening / closing members 22 and 23 to disconnect / connect the shaft-side connector 10 to the operation unit-side connector 20 has been described. On the other hand, in the second embodiment, the forceps shaft exchange device 9A is implemented in which the operation unit side connector main body 45 that also serves as an opening / closing member is opened / closed to disconnect / connect the shaft side connector 30 to the operation unit side connector 40. The form will be described.

As shown in FIG. 9, the multi-degree-of-freedom forceps 1 of the second embodiment manually operates the operating unit 6 to remotely control the operating unit 2 as described in the first embodiment. In the forceps shaft exchange device 9A of the second embodiment, the forceps shaft SA can be exchanged by attaching and detaching the shaft side connector 30 and the operation unit side connector 40. In the second embodiment, the configurations other than the forceps shaft changing device 9A are substantially the same as those of the first embodiment shown in FIG. Therefore, the constituent members common to the multi-degree-of-freedom forceps 1 of the first embodiment are designated by the same reference numerals as those in FIGS. 1 to 8, and the overlapping description will be omitted.

As shown in FIG. 10, the shaft-side connector 30 has a rotating shaft engaging portion 32e on the rear end side of the shaft-side connector main body 32. Then, as shown in FIG. 11, the operation unit side connector 40 is provided with a rotation shaft 42 by press-fitting into the holes 42a and 42a of the operation unit side connector main body 45. As shown in FIG. 9, the forceps shaft changing device 9A engages the rotating shaft engaging portion 32e of the shaft-side connector main body 32 with the rotating shaft 42 of the operating portion-side connector main body 45, and engages the shaft-side connector 30 and the operating portion. The side connector 40 is detachably connected. As shown in FIGS. 13 (a) and 13 (b), the forceps shaft exchanging device 9A is a rotating shaft engaging portion by relatively rotating the shaft side connector 30 and the operation portion side connector 40 so as to bend them. The engagement between the 32e and the rotating shaft 42 can be disengaged.

As shown in FIGS. 10 (a), 10 (b), and 12 (a), the shaft-side connector 30 is provided on the rear end side of the shaft 4, and has four cables that drive the operating portion (2: FIG. 9). It has four shaft- side engaging members 31a, 31b, 31c, and 31d connected to the shaft- side wires 7a, 7b, 8a, and 8b, respectively. The shaft 4 is fixed to the tip end side of the shaft-side connector main body 32. The shaft- side wires 7a, 7b, 8a, and 8b are connected to the operating portion (2) from the shaft-side connector main body 32 through the shaft 4. Four parallel T-grooves, slide grooves 32a, 32b, 32c, and 32d, are formed on the bottom surface of the shaft-side connector main body 32. As shown in FIG. 12B, the shaft- side engaging members 31a, 31b, 31c, and 31d are guided by engaging with the T-grooves of the slide grooves 32a, 32b, 32c, and 32d. 31i and 31i and widening portions 31j and 31j are formed.

By crimping a metal tube to the tip of the shaft- side wire 7a, 7b, 8a, 8b through the hole 31m formed in the tip surface 31k of the shaft- side engaging member 31a, 31b, 31c, 31d to expand the diameter. , As shown in FIG. 13A, the shaft side wires 7a, 7b, 8a, 8b are prevented from coming off. The shaft- side wires 7a, 7b, 8a, 8b may be fixed to the shaft- side engaging members 31a, 31b, 31c, 31d by adhesion, brazing, or the like.

As shown in FIGS. 11 and 12 (a), the operation unit side connector 40 is detachable from the shaft side connector 30, and the operation unit 2 is remotely controlled from the operation unit 6 on the side of four operation units. It has four operating unit side engaging members 41a, 41b, 41c, 41d connected to the wires 7c, 7d, 8c, 8d. The operating portion side engaging members 41a, 41b, 41c, 41d are formed with engaging recesses 41h adapted to the engaging projections 31h of the shaft side engaging members 31a, 31b, 31c, 31d. Since the engaging protrusion 31h and the engaging recess 41h are tapered in the sliding direction with the same size and inclination, even if there is a slight misalignment in the sliding direction, the engaging protrusion 31h and the engaging recess 41h can be engaged in the direction perpendicular to the sliding direction. As a result, the shaft- side engaging members 31a, 31b, 31c, 31d and the operating portion- side engaging members 41a, 41b, 41c, 41d are autonomously adjusted in the sliding direction.

As shown in FIG. 12B, the operating portion side engaging members 41a, 41b, 41c, 41d are formed with a plate-shaped guide protrusion 41j and a widened sliding surface 41i. As shown in FIG. 11, the operation unit side engaging members 41a, 41b, 41c, 41d are inserted into the guide grooves 45a, 45b, 45c, 45d of the operation unit side connector main body 45 from the tip side. As shown in FIG. 13A, the operation unit side engaging members 41a, 41b, 41c, 41d are individually guided by the guide grooves 45a, 45b, 45c, 45d to the guide protrusions 41j, and slide on the ceiling surface 45k. The rubbing surface 41i is individually regulated and can be individually and independently slid.

The operating unit side wires 7c, 7d, 8c, 8d are connected to the operating unit side engaging members 41a, 41b, 41c, 41d in the same manner as the shaft side engaging members 31a, 31b, 31c, 31d. The operation unit side wires 7c, 7d, 8c, 8d penetrate the holes 45e, 45f, 45g, 45h of the operation unit side connector main body 45 and enter the rear end side rotating portion 5 shown in FIG. 9, and enter the rear end side. It is guided to the operation unit 6 rotatably connected by the rotation unit 5.

Positioning springs 47a, 47b, 47c, 47d are provided by inserting the operating unit side wires 7c, 7d, 8c, 8d. One end of the positioning springs 47a, 47b, 47c, 47d is fixed to the surface 45i of the operation unit side connector main body 45, and the other end is fixed to the operation unit side engaging members 41a, 41b, 41c, 41d. The positioning springs 47a, 47b, 47c, 47d have the operating unit side engaging members 41a, 41b, 41c, respectively, at the neutral positions of expansion and contraction when the operating unit side wires 7c, 7d, 8c, 8d are not loaded. Position 41d. The operating unit side engaging members 41a, 41b, 41c, 41d can move in both directions in the sliding direction against the urging force of expansion and contraction of the positioning springs 47a, 47b, 47c, 47d, centering on the neutral position of expansion and contraction. is there.

As shown in FIG. 12A, the slide member 33 is a member for performing an operation of positioning the shaft- side engaging members 31a, 31b, 31c, 31d at a predetermined position in the slide direction. Since the shaft- side wires 7a and 7b and the shaft- side wires 8a and 8b are connected by the operating portion 2, the predetermined position in the second embodiment is the center of the slide range of the shaft- side engaging members 31a, 31b, 31c and 31d. It is a position.

Slide grooves 32h and 32h are formed on both inner surfaces of the shaft-side connector body 32. Widening portions 33a and 33a are formed on both side surfaces of the slide member main body 33m of the slide member 33 so as to be guided by sinking into the slide grooves 32h and 32h. The slide member 33 is guided by the widening portions 33a and 33a by the slide grooves 32h and 32h to prevent the slide member 33 from falling off, and slides along the slide grooves 32a, 32b, 32c and 32d. Latch pieces 33b and 33b that widen by spring force are formed on the left and right sides of the slide member main body 33m. The slide member 33 is restricted at both ends of the slide range by the latch piece 33b being depressed and engaged with the latch holes 32f and 32g of the shaft side connector main body 32.

As shown in FIG. 10B, the slide lock member 34 can slide toward the front end side and the rear end side along the shaft side connector main body 32. When the slide lock member 34 is slid toward the tip end side, the slide member 33 under the slide lock member 34 is exposed upward and can be operated. In this state, by manually sliding the slide member 33 toward the rear end side, the shaft side engaging members 31a, 31b, 31c, 31d are slid to predetermined positions along the slide grooves 32a, 32b, 32c, 32d. To position.

As shown in FIGS. 10A and 10B, the slide lock member 34 is a member that locks the relative rotation of the shaft-side connector main body 32 and the operation unit-side connector main body 45 about the rotation shaft 42. It also serves as a cover for the slide grooves 32a, 32b, 32c, 32d, the shaft- side engaging members 31a, 31b, 31c, 31d, and the slide member 33. The slide lock member 34 penetrates the shaft 4 through the hole 4h on the tip side.

As shown in FIG. 12A, the slide lock member 34 has regulatory surfaces 34j, 34m, 34n on the rear end side. As shown in FIG. 11, the operation unit side connector main body 45 has regulatory surfaces 45j, 45m, and 45n on the tip end side.

As shown in FIG. 13A, when the slide lock member 34 is slid toward the rear end side, the regulation surface 34j of the slide lock member 34 and the regulation surface 45j of the operation unit side connector body 45 are rubbed against each other. At the same time, on the opposite side, the regulation surface 34m of the slide lock member 34 shown in FIGS. 10 and 11 and the regulation surface 45m of the operation unit side connector main body 45 rub against each other. As a result, the relative rotation of the operation unit side connector main body 45 and the shaft side connector main body 32 centering on the rotation shaft 42 is restricted. The slide to the rear end side of the slide lock member 34 stops at a position where the regulation surface 34n of the slide lock member 34 and the regulation surface 45n of the operation unit side connector main body 45 come into contact with each other.

As shown in FIG. 13B, when the slide lock member 34 is slid toward the tip end side, the regulation surface 45j is removed from the regulation surface 34j, and the regulation surface 45m is removed from the regulation surface 34m. As a result, the relative rotation between the shaft-side connector main body 32 and the operation unit-side connector main body 45 about the rotating shaft 42 becomes free.

As shown in FIG. 13B, the operation unit side connector body 45 is rotatable around the rotation shaft 42 with respect to the shaft side connector body 32. At the rotation position shown in FIG. 13A, the operation unit side connector 40 and the shaft side connector 30 abut the end face 45q and the end face 32q, and the regulation surface 45p and the regulation surface 34p around the rotation shaft 42, respectively. Therefore, the operation unit side connector 40 and the shaft side connector 30 are held in a linear posture.

The operation unit side connector body 45 and the shaft side connector body 32 are temporarily fixed in a linear posture by dropping the arcuate convex portion 45r into the concave portion 32r. Therefore, the arcuate convex portion 45r and the concave portion 32r form the temporary fixing mechanism K. The temporary fixing mechanism K is a so-called suction mechanism, and causes the operation unit side connector 40 to start rotating with respect to the shaft side connector 30 with a click feeling. Further, when the postures of the operation unit side connector 40 and the shaft side connector 30 approach a linear state, the arcuate convex portion 45r is pulled into the concave portion 32r, and the operation unit side connector 40 and the shaft side connector 30 are autonomously brought into a linear state. Restore.

(Forceps shaft replacement procedure)
As shown in FIG. 13A, in the multi-degree-of-freedom forceps 1 before the replacement of the forceps shaft SA, the shaft- side engaging members 31a, 31b, 31c, 31d are the operating portion- side engaging members 41a, 41b, 41c, 41d. The shaft- side wires 7a, 7b, 8a, 8b and the operation unit- side wires 7c, 7d, 8c, 8d transmit the driving force.

First, a jig (not shown) is attached to the rear end side rotating portion 5 and the operating portion 6 to fix the open / closed state of the finger hooks 6c and 6d and the inclination of the operating portion 6 in the rear end side rotating portion 5 from the outside. As a result, the positioning springs 47a, 47b, 47c, 47d are in a neutral state without expansion and contraction, and the operation unit side engaging members 41a, 41b, 41c, 41d are arranged in a row, and this state is maintained throughout the work. To.

From here, as described above, the slide lock member 34 is slid toward the tip side with respect to the shaft side connector main body 32. As a result, the lock that keeps the operation unit side connector main body 45 and the shaft side connector main body 32 in a linear state is released, and relative rotation around the rotation shaft 42 becomes possible.

As shown in FIG. 13B, when the operation unit side connector body 45 is rotated with respect to the shaft side connector body 32, the shaft side engagement members 31a, 31b, 31c, 31d and the operation unit side engagement member 41a , 41b, 41c, 41d are disengaged. In this state, by moving the operation unit side connector 40 with respect to the shaft side connector 30 in the direction of the white arrow, the rotation shaft engaging portion 32e and the rotation shaft 42 are disengaged, and the operation unit side connector 40 is released. Is separated from the shaft side connector 30.

As shown in FIG. 9, after separating the operation unit side connector 40 and the shaft side connector 30 and removing the old forceps shaft SA from the multi-degree-of-freedom forceps 1, a new forceps shaft SA is attached.

As shown in FIG. 10B, in a state where the slide lock member 34 is slid toward the tip end side, the slide member 33 is slid toward the rear end side to determine the shaft side engaging members 31a, 31b, 31c, 31d. Align to position. The slide member 33 drops the latch pieces 33b, 33b into the latch holes 32f, 32f of the shaft side connector main body 32, and temporarily fixes the aligned state of the shaft side engaging members 31a, 31b, 31c, 31d even in the next step.

Subsequently, as shown in FIG. 13B, the operation unit side connector 40 is moved in the direction opposite to the white arrow to operate the rotary shaft engaging portion 32e of the shaft side connector main body 32 of the new forceps shaft SA. Engage the rotating shaft 42 of the side connector 40.

Subsequently, as shown in FIG. 13A, the operation unit side connector 40 is rotated around the rotation shaft 42 to return the operation unit side connector body 45 and the shaft side connector body 32 to the linear state.

Subsequently, the slide member 33 is slid toward the tip side, and the latch pieces 33b and 33b are dropped into the latch holes 32g and 32g of the shaft side connector main body 32 to engage the shaft side along the slide grooves 32a, 32b, 32c and 32d. Allows the members 31a, 31b, 31c, 31d to slide.

Subsequently, the slide lock member 34 is slid toward the rear end side to be connected to the operation unit side connector main body 45, and the shaft side connector 30 and the operation unit side connector 40 are locked in a straight line state.

(Effect of Embodiment 2)
In the second embodiment, the operation unit side connector 40 has the shaft side engaging members 31a, 31b, 31c, 31d and the operation unit side engaging members 41a, 41b, 41c as the attachment / detachment operation to the shaft side connector 30 is performed. , 41d are integrally engaged / disengaged. Therefore, when the operation unit side connector 40 is attached / detached to the shaft side connector 30, the shaft side wires 7a, 7b, 8a, 8b are connected / disconnected to the operation unit side wires 7c, 7d, 8c, 8d. Can be done.

In the second embodiment, the operation unit side connector main body 45 as a rotating member integrally supports the operation unit side engaging members 41a, 41b, 41c, 41d, and is around the rotating shaft 42 with respect to the shaft side connector 30. The shaft- side engaging members 31a, 31b, 31c, 31d and the operation unit- side engaging members 41a, 41b, 41c, 41d are integrally engaged / disengaged. Therefore, the forceps shaft exchange device 9A can be compactly configured.

In the second embodiment, the slide member 33 is slidably provided in the shaft side connector main body 32 in parallel with the shaft side engaging members 31a, 31b, 31c, 31d, and the shaft side engaging member 31a, The shaft- side engaging members 31a, 31b, 31c, 31d are positioned in a predetermined position where they can engage with the operation unit- side engaging members 41a, 41b, 41c, 41d in contact with the 31b, 31c, 31d. Therefore, it is not necessary to slide the shaft- side engaging members 31a, 31b, 31c, and 31d individually to position them in the sliding direction.

In the second embodiment, the positioning springs 47a, 47b, 47c, 47d are provided for each of the operation unit side engaging members 41a, 41b, 41c, 41d in the operation unit side connector main body 45, and the operation unit side engaging members 41a, The 41b, 41c, 41d are positioned at positions where they can be engaged with the shaft- side engaging members 31a, 31b, 31c, 31d. Therefore, it is not necessary to individually slide and position a predetermined number of operation unit side engaging members 41a, 41b, 41c, and 41d.

In the second embodiment, the operation unit side connector main body 45 as a rotating member is detachably connected to the shaft side connector main body 32 by a rotating shaft 42. Therefore, the rotating shaft 42 can be used for both rotation and engagement, and a forceps shaft changing device 9A that has a small number of parts, a simple mechanism, and is easy to clean and disinfect can be realized.

In the second embodiment, the shaft- side engaging members 31a, 31b, 31c, 31d and the operating unit- side engaging members 41a, 41b, as the operation unit-side connector body 45 is opened / closed with respect to the shaft- side connector body 32, 41c and 41d are disengaged / engaged.

In the second embodiment, the slide lock member 34 is slidably provided with respect to the shaft-side connector main body 32, and by sliding and engaging with the operation unit-side connector main body 45, the operation unit-side connector main body 45 and the shaft are engaged. Locks the side connector body 32. Therefore, when the lock of the operation unit side connector body 45 is released by the slide lock member 34, the operation unit side connector body 45 can be opened with respect to the shaft side connector body 32.

In the second embodiment, the temporary fixing mechanism K is provided between the operation unit side connector main body 45 and the shaft side connector main body 32, and the operation unit side connector main body is released in the process of sliding the slide lock member 34 to release the lock. The rotational state of the 45 and the shaft-side connector main body 32 is temporarily fixed. Therefore, in the process of unlocking the operation unit side connector body 45 and the shaft side connector body 32, the postures of the operation unit side connector body 45 and the shaft side connector body 32 are stable, and workability when replacing the forceps shaft SA is achieved. Excellent for.

In the second embodiment, the embodiment of positioning the operation unit side engaging members 41a, 41b, 41c, 41d at the neutral position of the urging force of the positioning spring by using the positioning springs 47a, 47b, 47c, 47d has been described. .. However, instead of the positioning springs 41a, 41b, 41c, 41d, a slide member (33) is also provided on the operation unit side connector main body 45, and a plurality of operation unit side engagement members 41a, 41b, 41c, are provided by the slide member (33). 41d may be forcibly slid and positioned so as to be aligned at a predetermined position.

Similarly, the shaft side connector main body 32 is not provided with the slide member 33, and the operation unit side engaging members 41a, 41b, using the positioning springs in both the shaft side connector main body 32 and the operation unit side connector body 45, Positioning of 41c, 41d and the shaft- side engaging members 31a, 31b, 31c, 31d may be performed. Alternatively, a positioning spring may be used in the shaft-side connector main body 32, and a slide member may be used in the operation unit-side connector main body 45.

In the second embodiment, the operation unit side engaging members 41a, 41b, 41c, 41d positioned at the center position of the slide range and the shaft side engaging members 31a, 31b, 31c, 31d positioned at the center position of the slide range. The embodiment in which the above is engaged with the rotation of the connector body 45 on the operation unit side has been described. However, the positioning positions of the operating portion side engaging members 41a, 41b, 41c, 41d and the shaft side engaging members 31a, 31b, 31c, 31d at the time of engaging may be the shaft side ends of the respective slide ranges. It may be the operation part side end of each slide range.

In the second embodiment, the embodiment in which the slide member 33 is slid immediately before the rotation of the operation unit side connector main body 45 to position the shaft side engaging members 31a, 31b, 31c, 31d has been described. However, the forceps shaft SA may be provided in a state in which the positions of the shaft- side engaging members 31a, 31b, 31c, and 31d in the slide direction are set in advance on the slide member 33 and locked. For example, the slide member 33 is provided with a structure in which the shaft- side engaging members 31a, 31b, 31c, and 31d are temporarily fixed to the slide member 33 at the rear end side of the slide range of the slide member 33. Then, the operation unit side connector main body 45 is engaged with the shaft side connector main body 32 of the forceps shaft SA taken out from the package in the temporarily fixed state using the structure, and is rotated about the rotation shaft 42. In this way, after the operation unit side engaging members 41a, 41b, 41c, 41d are engaged with the shaft side engaging members 31a, 31b, 31c, 31d, the shaft side engaging members 31a, 31b, by the slide member 33, The temporary fixing of 31c and 31d may be released.

In the first and second embodiments, the embodiment of the present invention in the multi-degree-of-freedom forceps used for arthroscopic surgery has been described. However, since the present invention does not relate to the function of the operating portion, the embodiment of the present invention is not limited to the multi-degree-of-freedom forceps used for arthroscopic surgery. The operating unit does not have to be mechanically operated, and may be a lighting device, an imaging device, a heating device, or the like having a swing function. The operating portion of the multi-degree-of-freedom forceps 1 can be arbitrarily selected and changed as long as it is remotely controlled from the operating portion using at least two wires. Therefore, the multi-degree-of-freedom forceps for which the inventions according to the first and second embodiments can be used have many variations depending on the type of the operating portion attached to the tip end side of the shaft. The form of the working part to be inserted into the patient's body can be selected from a wide variety depending on the use of the working part. In addition to the gripping forceps for gripping the tissue inside the body, the operating part includes peeling forceps for peeling the tissue, scissors forceps for cutting the tissue, suture forceps for suturing the tissue, a needle driver, an electric knife, and a heater. , Electrodes, forceps, dilators, chemical injectors, lighting devices, imaging cameras, etc. can be designed in various ways.

In the first and second embodiments, an embodiment in which four wires stretched between two sets of pulleys are arranged in a vertical cross section of the multi-degree-of-freedom forceps has been described. However, the wires arranged in the axially vertical cross section of the multi-degree-of-freedom forceps may be wires other than those stretched between the pulleys, and may be two, three, or five or more.

1 Multi-degree-of-freedom forceps 2 Acting part 2a Rotating shaft 2b 1st forceps piece 2c 2nd forceps piece 2d, 2e Driven pulley 3 Tip side rotating part 3a, 3b Rotating shaft 3c, 3d Relay pulley 4 Shaft 4a Tip 4b Rear end 5 Rear end side rotating part (operation part)
5a, 5b Rotating shaft 5c, 5d Relay pulley 6 Operating part 6a Rotating shaft 6b, 6c Finger hook 7,8 Wire 7a, 7b, 8a, 8b Shaft side wire 7c, 7d, 8c, 8d Operation part side wire 9, 9A Force shaft Switching devices 10, 30 Shaft- side connectors 11a, 11b, 11c, 11d, 31a, 31b, 31c, 31d, Shaft- side engagement members 12, 32 Shaft- side connector bodies 13, 33 Slide members 13a, 13b Contact surfaces 13c, 13d Slide holes 13e, 13f Slits 14a, 14b Slide shafts 14c, 14d Compression coil springs 20, 40 Operation part side connectors 21a, 21b, 21c, 21d, 41a, 41b, 41c, 41d Operation part side engagement member 21e Standing part 21f Flat Part 21g Wire connecting part 21h Widening part 22, 23 Opening and closing member (rotating member)
22a, 23a Opening / closing member body 22b, 23b Bottom plate 24a, 24b Biasing member 25 Operation unit side connector body 26, 34 Slide lock member 27a, 27b, 27c, 27d, 47a, 47b, 47c, 47d Positioning spring 28 Ball latch 32e Rotation Shaft engagement part 32f, 32g Latch hole 33b Latch piece 34m, 34n Restriction surface 42 Rotating shaft 45 Operation part side connector body (rotating member)
45m, 45n Regulatory surface K Temporary fixing mechanism SH, SA Forceps shaft

Claims (12)

1. A device for exchanging forceps shafts
   A shaft-side connector provided on the rear end side of a shaft having an actuating portion and having the predetermined number of shaft-side engaging members connected to at least two shaft-side wires that drive the actuating portion. ,
   An operation unit that is detachable from the shaft-side connector and has the predetermined number of operation unit-side engaging members connected to the predetermined number of operation unit-side wires that remotely control the operation unit from the operation unit. With a side connector,
   The predetermined number of shaft-side engaging members and the predetermined number of operating unit-side engaging members are integrally engaged / disengaged with the attachment / detachment operation of the shaft-side connector and the operation unit-side connector. ,
   Forceps shaft replacement device.
2. The predetermined number of operating unit side engaging members are integrally supported, and the predetermined number of shaft side engaging members and the predetermined number of operating units are rotated with respect to the shaft side connector around a predetermined rotating shaft. It has a rotating member that integrally engages / disengages with the side engaging member.
   The forceps shaft exchange device according to claim 1.
3. The predetermined number of shaft-side engaging members are slidably supported by the shaft-side connector body, respectively.
   The shaft-side connector body is slidably provided in parallel with the predetermined number of shaft-side engaging members, and comes into contact with the predetermined number of shaft-side engaging members as the slide operation is performed to engage the predetermined number of shaft-side engaging members. It has a slide member for positioning a member at a predetermined position capable of engaging with the predetermined number of operation unit side engaging members.
   The forceps shaft exchange device according to claim 2.
4. The predetermined number of operating unit side engaging members are slidably supported by the rotating members, respectively.
   A positioning spring provided for each operating portion-side engaging member in the rotating member to position the operating portion-side engaging member at a position capable of engaging with the shaft-side engaging member at a predetermined position. Have, have
   The forceps shaft changing device according to claim 3.
5. The rotating member is provided so as to be openable and closable by rotating around the predetermined rotation axis with respect to the operation unit side connector body that can be attached to and detached from the shaft side connector body, and an opening operation / opening operation with respect to the operation unit side connector body. It is an opening / closing member that disengages / engages the predetermined number of shaft-side engaging members and the predetermined number of operating portion-side engaging members with the closing operation.
   The forceps shaft exchange device according to any one of claims 2 to 4.
6. The shaft-side engaging member is
   A rod whose tip side is connected to the shaft side wire,
   It has an engaging piece fixed to the rear end side of the rod and to which the operating portion side engaging member can engage.
   The shaft-side engaging member projects the engaging piece supported by the rod from the rear end of the shaft-side connector body.
   The forceps shaft changing device according to claim 5.
7. It has a relay pulley that is provided on the same rotating shaft and relays by stretching at least two operation unit side wires in parallel.
   The opening / closing member rotates around the rotation axis of the relay pulley to open / close the tip side.
   The forceps shaft changing device according to claim 5 or 6.
8. An urging member that urges the tip end side of the opening / closing member to open outward,
   It is slidably provided on the operation unit side connector body, and can hold a locked state in which the opening / closing member is closed inward against the urging of the urging member and the operation unit side connector is locked to the shaft side connector. It has a slide lock member that can release the locked state with the slide.
   The forceps shaft exchange device according to any one of claims 5 to 7.
9. The rotating member is an operation unit side connector main body of the operation unit side connector, and is detachably connected to the shaft side connector main body of the shaft side connector by the predetermined rotation shaft.
   The predetermined number of shaft-side engaging members and the predetermined number of operating unit-side engaging members are disengaged / engaged with the opening / closing operation of the operation unit-side connector body with respect to the shaft-side connector body. ,
   The forceps shaft exchange device according to claim 2.
10. A slide lock member that is slidably provided with respect to the shaft-side connector body and that locks the operation unit-side connector body and the shaft-side connector body by sliding and engaging with the operation unit-side connector body. Have, have
    The forceps shaft changing device according to claim 9.
11. The operation unit side is provided between the operation unit side connector body and the shaft side connector body, and is provided in the process of sliding the slide lock member to unlock the operation unit side connector body and the shaft side connector body. It has a temporary fixing mechanism that temporarily fixes the rotational state of the connector body and the shaft side connector body.
    The forceps shaft changing device according to claim 10.
12. A multi-degree-of-freedom forceps having the forceps shaft exchanging device according to any one of claims 1 to 11.
    

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