WO2021131028A1 - Élément de maintien - Google Patents

Élément de maintien Download PDF

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Publication number
WO2021131028A1
WO2021131028A1 PCT/JP2019/051462 JP2019051462W WO2021131028A1 WO 2021131028 A1 WO2021131028 A1 WO 2021131028A1 JP 2019051462 W JP2019051462 W JP 2019051462W WO 2021131028 A1 WO2021131028 A1 WO 2021131028A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera head
holder
head adapter
drape
side wall
Prior art date
Application number
PCT/JP2019/051462
Other languages
English (en)
Japanese (ja)
Inventor
耕太郎 只野
山本　円朗
Original Assignee
リバーフィールド株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by リバーフィールド株式会社 filed Critical リバーフィールド株式会社
Priority to PCT/JP2019/051462 priority Critical patent/WO2021131028A1/fr
Priority to JP2021551985A priority patent/JP7041994B2/ja
Publication of WO2021131028A1 publication Critical patent/WO2021131028A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor

Definitions

  • the endoscope is sandwiched by adjusting the distance between the two sandwiching materials provided at the tip of the device support. Since this interval adjustment is performed while balancing the weight of the camera head and the insertion portion, the work is somewhat complicated.
  • the support structure is a robot provided with an arm portion, and the attachment portion is detachably joined to the arm portion.
  • the holder of the present invention has a release structure for releasing the connection with the arm portion when an external force of a predetermined value or more is applied to the head adapter, the holder, or the arm portion.
  • the end of the drape on the holder side is fixed to the drape holding portion.
  • the observation optical axis AX1 of the endoscope 100 and the central axis AX2 along the longitudinal direction of the camera head adapter 20 are set, and the front-rear direction along the central axis AX2 is the D11-D12 direction, front-back direction.
  • the vertical direction and the horizontal direction (width direction), which are orthogonal to each other and orthogonal to each other, are referred to as D21-D22 direction and D31-D32 direction, respectively.
  • the central axis AX2 substantially coincides with the observation optical axis AX1 when the endoscope 100 is attached to the camera head adapter 20.
  • D11, D12, D21, D22, D31, and D32 may be referred to as front side, rear side, upper side, lower side, left side, and right side, respectively.
  • the arm portion 15 of the robot includes a tip holding portion 10 to which the holder 60 is mounted and a gimbal mechanism portion 14 at the tip thereof.
  • the tip holding portion 10 is attached to the gimbal mechanism portion 14 and has a substantially circular shape in a plan view along the central axis AX2 of the camera head adapter 20.
  • the housing of the camera head 110 is made of a rigid material in order to protect the built-in image sensor and optical system and to reliably maintain the arrangement relationship between them.
  • the tubular material constituting the outer circumference of the insertion portion 120 is made of a flexible material that can be bent and deformed when inserted into the patient's body.
  • the tubular material constituting the outer periphery of the electric cable 131 and the optical cable 132 is made of a flexible material that allows deformation according to the routing arrangement.
  • the housing of the camera head 110, the tubular material of the insertion portion 120, the tubular material of the electric cable 131, and the tubular material of the optical cable 132 are made of, for example, a resin material as a material having the above-mentioned characteristics.
  • the user can start / end imaging, adjust the imaging conditions by operating the built-in optical system, adjust the illumination intensity, and the like.
  • the insertion portion 120 is provided so as to extend along the observation optical axis AX1, and inside the insertion portion 120, an optical fiber or the like that guides the light emitted from an external light source to the tip surface and the light incident from the tip surface are guided to the camera head 110. Has a route. Further, a treatment tool for treating an object, for example, forceps, a path for ejecting water or air, a wire for bending and deforming the insertion portion 120, and the like may be provided inside.
  • the front tip portions 31a and 32a of the two side wall portions 31 and 32 are connected to each other, and a groove portion 30a along the central axis AX2 is provided between them.
  • the upper side of the groove 30a is open. That is, a groove 30a is formed in the front portion of the holding portion 30.
  • the connecting portion 50 is not limited to the above structure as long as the holding portion 30 and the connecting portion 40 can be reliably connected.
  • the two side wall portions 31, 32 are not extended to the connecting portion 50, but are joined to each other in front of the connecting portion 50 to form a closed shape. It is also possible to join one connecting portion.
  • the connecting portion 40 has a plate shape extending rearward from the rear end of the connecting portion 50, and has two side surfaces 41 and 42 facing each other.
  • the left side surface 41 of the connecting portion 40 has three engaging projections 41a, 41b, 41c protruding to the left as engaging portions. Is provided.
  • the upper two engaging protrusions 41a and 41b are provided at the same position in the vertical direction (D21-D22 direction), and the two front engaging protrusions 41a and 41c are provided at the same position in the front-rear direction (D11-D12 direction). It is provided.
  • the three engaging protrusions 41a, 41b, and 41c have the same shape as each other.
  • the right side surface 42 is provided with three engaging protrusions 42a, 42b, and 42c protruding to the right as engaging portions.
  • the two upper engaging projections 42a and 42b are provided at the same position in the vertical direction, and the center positions are arranged at a distance L1 in the front-rear direction.
  • the two engaging protrusions 42a and 42c on the front side are provided at the same position in the front-rear direction, and the center positions are arranged at a distance L2 in the vertical direction.
  • the distance between the center position of the engaging projection 42b on the rear side and the rear end surface 40a of the connecting portion 40 is set to a distance L3.
  • the three engaging protrusions 42a, 42b, and 42c have the same shape as each other, and the three engaging protrusions 41a, 41b, and 41c on the left side surface 41 also have the same shape.
  • the mounting portion 62 is provided within a diameter range smaller than the diameter of the planar shape of the base material portion 61, has a predetermined width W (see FIG. 6B) in the left-right direction (D31-D32 direction), and has a predetermined width W (see FIG. 6B). Moreover, it has a shape extending along the vertical direction (D21-D22 direction).
  • overhanging portions 63a and 64a extending outward in the left-right direction are provided on the upper portions of the two side surfaces 63 and 64 facing each other in the left-right direction, respectively.
  • the mounting portion 62 has a predetermined height H from the bottom portion 62a to the overhanging portions 63a and 64a.
  • the upper inner surface of the second side wall portion 80 on the right side of the holder 60 is outside (right side (D32)) so as to face each other in the left-right direction with respect to each of the two insertion recesses 71 and 72 of the first side wall portion 70 on the left side.
  • Two insertion recesses 81 and 82 recessed toward (side)) are provided. These insertion recesses 81 and 82 are provided side by side so that the center positions are arranged at a predetermined distance L1 in the front-rear direction.
  • the insertion recess 82 on the rear side is separated from the center position of the insertion recess 82 to the front surface 61a of the base material portion 61 by a distance L3 in the front-rear direction.
  • the insertion recess 81 on the front side extends further downward from the portion connected to the first fixing recess 83, and is connected to the third fixing recess 85 extending to the front at a place extended by a distance L2. .. Therefore, the insertion recess 81 extending in the vertical direction and the first fixed recess 83, the second fixed recess 84, and the third fixed recess 85 extending in the front-rear direction are orthogonal to each other in the surface direction of the inner surface of the second side wall portion 80. It is formed so as to bend along the direction of bending. This bending direction is not limited to orthogonality, and may be a direction substantially orthogonal to each other.
  • the relative positional relationships of the three fixing recesses 83, 84, and 85 in the vertical and front-rear directions correspond to the relative positional relationships of the three engaging protrusions 42a, 42b, and 42c of the connecting portion 40 in the vertical and front-rear directions. Is located in.
  • the three fixing recesses 83, 84, and 85 have inner surface shapes corresponding to the outer shapes of the three engaging protrusions 42a, 42b, and 42c, respectively.
  • the insertion recesses 71 and 72 of the first side wall portion 70 on the left side also have the first fixing recesses and the second fixing recesses, similarly to the insertion recesses 81 and 82 of the second side wall portion 80 on the right side.
  • a third fixing recess is continuously provided.
  • the joining of the camera head adapter 20 and the holder 60 will be described focusing on the joining of the right side surface 42 of the connecting portion 40 and the second side wall portion 80 on the right side of the holder 60.
  • the left side surface 41 of the connecting portion 40 and the first side wall portion 70 on the left side of the holder 60 are also joined in the same manner.
  • the engaging protrusion 42a, the engaging protrusion 42b, and the engagement protrusion 42b are engaged.
  • the joint protrusion 42c is extracted from the first fixing recess 83, the second fixing recess 84, and the third fixing recess 85, respectively.
  • the engaging protrusion 42a, the engaging protrusion 42b, and the engaging protrusion 42c are pulled out from the insertion recesses 81 and 82, respectively, so that the camera head adapter 20 can be pulled out from the holder 60. It can be removed.
  • the camera head adapter 20 can be detachably held in the holder 60.
  • the holder 60 By joining the mounting portion 62 to the tip holding portion 10 in this way, when an external force of a predetermined value or more is applied to the camera head adapter 20, the holder 60, or the arm portion 15, the holder 60 is transferred from the tip holding portion 10. It is removable and functions as a release structure that releases the connection with the arm portion 15.
  • the above-mentioned predetermined value is preset as a value sufficiently large with respect to an external force applied by an operation in a normal treatment or setting.
  • the shape and elasticity of the mounting portion 62 and the holding groove portion 12 are set so that such a releasing structure functions.
  • the outer peripheral surface 61b of the base material portion 61 of the holder 60 or the outer peripheral surface 62b of the mounting portion 62 is used as a drape holding portion, and either or both of them have the tip of the drape 140 shown by a broken line.
  • a portion, that is, an end portion on the holder 60 side is attached.
  • the camera head adapter 20 is joined to the holder 60 to which the drape 140 is fixed, and is attached to the attachment member 11 of the tip holding portion 10.
  • FIG. 10B the arm portion 15 and the robot are covered with the drape 140.
  • the arm portion 15 and the robot can be reliably maintained in a clean state, and the holder 60 and the camera head adapter 20 contaminated by the treatment or the like can be easily separated from the robot.
  • the base material portion 61 and the mounting portion 62 have a shape other than a circular shape when viewed from the direction along the central axis AX2, the drape may be fixed to the outer periphery thereof.
  • the holder according to the present invention is useful in that the drape can be easily attached and detached by attaching and detaching the holder.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un élément de maintien grâce auquel il est possible de détacher facilement un drapé en détachant l'élément de maintien.　Cet élément de maintien comprend : une partie d'attache qui est reliée de façon détachable à une structure de support ; une partie de maintien d'adaptateur de tête de caméra qui permet à un adaptateur de tête de caméra d'être détaché, l'adaptateur de tête de caméra maintenant un endoscope ; et une partie de maintien de drapé sur laquelle peut être installé un drapé, le drapé recouvrant au moins une section de la structure de support à laquelle est reliée la partie d'attache.
PCT/JP2019/051462 2019-12-27 2019-12-27 Élément de maintien WO2021131028A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2019/051462 WO2021131028A1 (fr) 2019-12-27 2019-12-27 Élément de maintien
JP2021551985A JP7041994B2 (ja) 2019-12-27 2019-12-27 ホルダ

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/051462 WO2021131028A1 (fr) 2019-12-27 2019-12-27 Élément de maintien

Publications (1)

Publication Number Publication Date
WO2021131028A1 true WO2021131028A1 (fr) 2021-07-01

Family

ID=76573819

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/051462 WO2021131028A1 (fr) 2019-12-27 2019-12-27 Élément de maintien

Country Status (2)

Country Link
JP (1) JP7041994B2 (fr)
WO (1) WO2021131028A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024014859A1 (fr) * 2022-07-13 2024-01-18 주식회사 로엔서지컬 Ensemble d'entraînement d'endoscope

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5441042A (en) * 1991-08-05 1995-08-15 Putman; John M. Endoscope instrument holder
JP2006061376A (ja) * 2004-08-26 2006-03-09 Olympus Corp 医療器具システム
JP2008245714A (ja) * 2007-03-29 2008-10-16 Olympus Medical Systems Corp 手術用観察システム。
JP2010220683A (ja) * 2009-03-19 2010-10-07 Olympus Medical Systems Corp ドレープと、ドレープを有する内視鏡装置
JP2012000199A (ja) * 2010-06-15 2012-01-05 Olympus Medical Systems Corp 医療器具保持装置
JP2013192713A (ja) * 2012-03-19 2013-09-30 Olympus Medical Systems Corp 医療用観察システム
JP2014076204A (ja) * 2012-10-11 2014-05-01 Olympus Medical Systems Corp 医療用観察システム
JP2014113243A (ja) * 2012-12-07 2014-06-26 Jimro Co Ltd 内視鏡及びドレープ並びに内視鏡装置
JP2019084334A (ja) * 2017-11-01 2019-06-06 ソニー株式会社 医療用保持装置、医療用アームシステム、及びドレープ装着機構

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5441042A (en) * 1991-08-05 1995-08-15 Putman; John M. Endoscope instrument holder
JP2006061376A (ja) * 2004-08-26 2006-03-09 Olympus Corp 医療器具システム
JP2008245714A (ja) * 2007-03-29 2008-10-16 Olympus Medical Systems Corp 手術用観察システム。
JP2010220683A (ja) * 2009-03-19 2010-10-07 Olympus Medical Systems Corp ドレープと、ドレープを有する内視鏡装置
JP2012000199A (ja) * 2010-06-15 2012-01-05 Olympus Medical Systems Corp 医療器具保持装置
JP2013192713A (ja) * 2012-03-19 2013-09-30 Olympus Medical Systems Corp 医療用観察システム
JP2014076204A (ja) * 2012-10-11 2014-05-01 Olympus Medical Systems Corp 医療用観察システム
JP2014113243A (ja) * 2012-12-07 2014-06-26 Jimro Co Ltd 内視鏡及びドレープ並びに内視鏡装置
JP2019084334A (ja) * 2017-11-01 2019-06-06 ソニー株式会社 医療用保持装置、医療用アームシステム、及びドレープ装着機構

Also Published As

Publication number Publication date
JP7041994B2 (ja) 2022-03-25
JPWO2021131028A1 (fr) 2021-07-01

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