WO2021166217A1 - Dispositif de forceps - Google Patents

Dispositif de forceps Download PDF

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Publication number
WO2021166217A1
WO2021166217A1 PCT/JP2020/007028 JP2020007028W WO2021166217A1 WO 2021166217 A1 WO2021166217 A1 WO 2021166217A1 JP 2020007028 W JP2020007028 W JP 2020007028W WO 2021166217 A1 WO2021166217 A1 WO 2021166217A1
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WO
WIPO (PCT)
Prior art keywords
wire
guide roller
guide
joint
gripping
Prior art date
Application number
PCT/JP2020/007028
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English (en)
Japanese (ja)
Inventor
耕太郎 只野
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/JP2020/007028 priority Critical patent/WO2021166217A1/fr
Publication of WO2021166217A1 publication Critical patent/WO2021166217A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery

Definitions

  • the present invention relates to a forceps device.
  • the surgical manipulator system uses multi-degree-of-freedom forceps with multiple joints to treat the affected area of the patient, and works with the multi-degree-of-freedom forceps to improve safety and shorten the operation acquisition time. It is required to estimate the external force with high accuracy and transmit it to the operator who operates the isolated operation unit. Here, since it is necessary to transmit the driving force across the joints in the multi-degree-of-freedom forceps, a mechanism using a flexible wire is often adopted.
  • interference means that when a joint is bent in a multi-degree-of-freedom forceps, the path length of the wire that drives the other joint changes across the joint, so that the other joint is operated. It means that the relationship between the force that pulls the wire and the amount of drive of the joint changes.
  • the tension acting on the wire is affected by the bending angle of each joint, which hinders the estimation of the external force acting on the forceps from the wire tension with high accuracy, and it becomes difficult to suppress the change in the path length.
  • a forceps device in which a roller base in which a plurality of guide rollers for guiding the wire are rotatably supported is provided at the joint portion which is the center of rotation during the bending motion. (See Patent Document 1).
  • the joint bends with the wire sandwiched between the pair of guide rollers. Therefore, as the joint bends, most of the force that urges the wire from any of the guide rollers is at the timing when the wire moves so as to be guided from one guide roller to the other guide roller. It doesn't work. Therefore, the movement of the wire sandwiching the above-mentioned timing (neutral state in which the wire is not bent in any direction) becomes unstable.
  • the present invention has been made in view of such a situation, and one of its exemplary purposes is to provide a new configuration that facilitates control of wire movement associated with flexion of a forceps joint.
  • the grip portion the bending wire that moves when realizing the bending operation of the grip portion, and the grip portion that bends due to the movement of the bending wire.
  • the first joint which is the center of rotation when the gripping portion is operated
  • the gripping wire which moves when the gripping operation of the gripping portion is realized
  • the second joint which is the center of rotation when the gripping portion is gripped by the movement of the gripping wire.
  • a guide mechanism provided at the first joint to guide the gripping wire.
  • the guide mechanism has a plurality of guide portions, and at least one of the plurality of guide portions is configured to receive a force from the gripping wire in a range in which the first joint serves as a rotation center and the grip portion bends. There is.
  • the gripping wire since the gripping wire receives a force from any of the plurality of guide portions in the range in which the gripping portion bends, unstable movement of the gripping wire can be suppressed. In other words, since the gripping wire urges at least one of the plurality of guide portions in the range in which the gripping portion bends, unstable movement of the gripping wire can be suppressed.
  • the guide mechanism may have one guide roller pair as a plurality of guide units.
  • the gripping wire is arranged so as to be guided between the guide roller pairs, and the guide roller pair is the guide roller pair in a state where the first joint is in a neutral position where the grip portion is not bent.
  • the line connecting the rotation centers of the respective guide rollers may be arranged so as to be oblique to the extending direction of the gripping wire. This allows one guide roller pair to receive force from the gripping wire even when the first joint is in the neutral position.
  • the guide mechanism may have two guide roller pairs as a plurality of guide units.
  • the first joint may have a columnar roller base that rotatably supports two pairs of guide rollers.
  • one of the two guide roller pairs may be arranged on one bottom surface, and the other guide roller pair of the two guide roller pairs may be arranged on the other bottom surface.
  • the gripping wire may be arranged so as to be guided between one guide roller pair, guided by the second joint, folded back, and then guided between the other guide roller pairs.
  • One guide roller pair has a wire connecting the rotation centers of the respective guide rollers of the one guide roller pair and a gripping wire in a state where the first joint is in a neutral position where the grip portion is not bent.
  • the other guide roller pair has a line connecting the rotation centers of the respective guide rollers of the other guide roller pair and a gripping wire in a state where the first joint is in a neutral position where the grip portion is not bent. It may be arranged so that the angle formed by the extending direction of is ⁇ 4 ( ⁇ 90 ° ⁇ 4 ⁇ 0 °).
  • the guide roller pairs arranged on the plurality of bottom surfaces of the columnar roller base can receive forces from the gripping wires in different directions. Therefore, when the first joint is rotated clockwise or counterclockwise from the state where the first joint is in the neutral position, the difference in the force required to move the bending wire can be suppressed. That is, for example, when the first joint is rotated clockwise, the force required to move the bending wire is relatively large, and when the first joint is rotated counterclockwise, the force required to move the bending wire is relatively large. It is possible to reduce situations such as being relatively small.
  • the angle ⁇ 3 formed may satisfy the relationship of 60 ° ⁇ 3 ⁇ 85 °.
  • FIG. 6 (a) is a view taken along the arrow in the D direction of FIG. 3, and FIG. 6 (b) is a diagram showing a state in which the first joint is bent from the state of FIG. 6 (a).
  • FIG. 9 is a side view of the forceps device shown in FIG. 9 as viewed from the direction of the center of rotation C1.
  • 9 is a side view of the forceps device shown in FIG. 9 as viewed from the rotation center C2 direction.
  • the present invention relates to, for example, a wire guiding mechanism that reduces inter-articular interference in multi-degree-of-freedom forceps.
  • the present embodiment relates to a forceps device having a wire-driven forceps for a surgical robot. More specifically, the present invention relates to a wire guide structure of a forceps manipulator having a multi-degree-of-freedom flexion joint.
  • the forceps is one of the surgical tools and is used for pinching or cutting tissues, foreign substances, and the like.
  • the wire driving the tip joint passes through the center of rotation of the joint in front of it.
  • the bent portion of the wire is bent so as to be bent without having a curvature. This is because the wire passes through the center of rotation and bends so as to bend without having a curvature, so that the path length of the wire can be made constant regardless of the bending angle of the joint.
  • the radius of curvature of the guide portion of the wire is increased or a guide roller is required.
  • the radius of curvature of the guide portion and the radius of the guide roller have a finite size, it is difficult for the wire to bend along the radius of the guide portion and the guide roller due to bending so that it can be bent without having a curvature. Is. Therefore, in reality, the change in the path length of the wire due to bending cannot be completely eliminated, but the forceps device according to the present embodiment is provided with a mechanism for reducing the change in the path length.
  • the forceps device has a roller base (guide portion base) that supports a guide roller (guide portion) that guides the wire to the flexing joint portion or the vicinity of the joint portion.
  • the roller base is configured to rotate independently of components such as arms and joints that make up the forceps device.
  • FIG. 1 is a perspective view of the forceps device K according to the reference example.
  • FIG. 2 is a view taken along the line A of FIG. 1 of the forceps device K according to the reference example.
  • FIG. 3 is a view taken along the line B of FIG. 1 of the forceps device K according to the reference example.
  • FIG. 4 is a view taken along the line C of FIG. 1 of the forceps device K according to the reference example.
  • the forceps device K has a pair of gripping portions 1a and 1b on the tip side, a first joint 2 on the root side, and a second joint 3 located in the middle.
  • the pair of gripping portions 1a and 1b have the function of forceps for pinching and releasing an object.
  • the first joint 2 is a joint portion between the first arm 4 on the root side and the second arm 5 at the intermediate position, and is responsible for bending the first arm 4 and the second arm 5. That is, the first arm 4 and the second arm 5 bend around the rotation center C1 of the first joint 2 (directions of arrows ⁇ 11 and ⁇ 12 shown in FIGS. 1 and 2).
  • the second arm pulley 5a formed at one end of the second arm 5 is rotatably supported around the rotation center C1 at the connecting portion 4a at one end of the first arm 4 on the root side.
  • a third wire w3 that rotates the second arm 5 around the rotation center C1 is hung on the second arm pulley 5a integrated with the second arm 5. Since the second arm pulley 5a is rotatably supported around the rotation center C1, the relationship between the moving length of the third wire w3 and the rotation angle of the second arm 5 can be kept constant.
  • the second joint 3 rotates the grip portion 1a and the grip portion 1b around the rotation center C2 with respect to the second arm 5, respectively, to pinch or separate an object.
  • the grip portion 1a is rotated around the rotation center C2 (directions of arrows ⁇ 21 and ⁇ 22 shown in FIGS. 1 and 2)
  • the grip portion 1b is rotated around the rotation center C2 (arrow ⁇ 31 shown in FIGS. 1 and 2). , ⁇ 32 direction).
  • the first pulley 3a is integrally formed on the grip portion 1a.
  • the grip portion 1a and the first pulley 3a are rotatably supported around the rotation center C2.
  • a second pulley 3b is integrally formed on the grip portion 1b. Then, the grip portion 1b and the second pulley 3b are rotatably supported around the rotation center C2.
  • the grip portion 1a To sandwich an object between the grip portion 1a and the grip portion 1b, the grip portion 1a is rotated in the direction of arrow ⁇ 21, and the grip portion 1b is rotated in the direction of arrow ⁇ 31.
  • the grip portion 1a and the grip portion 1b are separated from the state where the object is sandwiched, the grip portion 1a is rotated in the direction of arrow ⁇ 22, and the grip portion 1b is rotated in the direction of arrow ⁇ 32.
  • the first wire w1 that rotates the first pulley 3a in the directions of the arrows ⁇ 21 and ⁇ 22 is hung on the first pulley 3a.
  • the second pulley 3b is hung with a second wire w2 that rotates the second pulley 3b in the directions of arrows ⁇ 31 and ⁇ 32 in FIG.
  • a cylindrical roller base 6 is rotatably supported by the connecting portion 4a of the first arm 4 constituting the first joint 2.
  • the roller base 6 is rotatably supported by the first guide roller 8a, the second guide roller 9a, the third guide roller 10a, and the fourth guide roller 11a that guide the first wire w1. Further, the roller base 6 is rotatably supported by the first guide roller 8b, the second guide roller 9b, the third guide roller 10b, and the fourth guide roller 11b that guide the second wire w2.
  • the roller base 6 rotates about the connecting portion 4a around the rotation center C1 of the first joint 2 or its vicinity by sliding the outer peripheral portion 6g with respect to the inner peripheral surface of the connecting portion 4a of the first arm 4. It is supported freely. That is, the roller base 6 has a configuration in which a rotational motion is freely performed independently of the motions of the first arm 4, the second arm 5, and the first joint 2.
  • the first guide rollers 8a and 8b and the second guide rollers 9a and 9b are rotatably supported on one bottom surface side of the cylindrical roller base 6. As shown in FIGS. 3 and 4, the third guide rollers 10a and 10b and the fourth guide rollers 11a and 11b are rotatably supported on the other bottom surface side of the roller base 6.
  • the center 10O (see FIGS. 6A, 6B, and 8) that guides the wire w2 coincides with or substantially coincides with the rotation center 6O of the roller base 6.
  • FIG. 5 is a perspective view showing the roller base 6 and the first guide rollers 8 to the fourth guide rollers 11.
  • the roller base 6 is formed in a cylindrical shape using metal, resin, or the like.
  • the roller base 6 is formed with two through holes, a first insertion hole 6a and a second insertion hole 6b, along the axial direction of the roller base 6.
  • the first insertion hole 6a is a hole through which the first guide roller 8 (8a, 8b) and the third guide roller 10 (10a, 10b) are inserted.
  • the second insertion hole 6b is a hole through which the second guide roller 9 (9a, 9b) and the fourth guide roller 11 (11a, 11b) are inserted.
  • the guide rollers (8a to 11b) for example, stainless steel is used.
  • the guide rollers (8a to 11b) may be made of other metals, resins, or the like as long as they satisfy conditions such as friction, weather resistance, and sterilization.
  • the shaft portion 12b of the first support shaft 12 is fixed through the first insertion hole 6a by inserting the first guide rollers 8a and 8b and press-fitting or the like.
  • the first support shaft 12 has a shaft portion 12b and a head portion 12a having a large diameter.
  • the first guide rollers 8a and 8b are rotatably supported through the shaft portion 12b of the first support shaft 12.
  • the first guide rollers 8a and 8b are interposed between the roller base 6 and the head portion 12a of the first support shaft 12.
  • the shaft portion 14b of the third support shaft 14 is fixed by press-fitting or the like through the third guide rollers 10a and 10b through the first insertion hole 6a on the opposite side.
  • the third support shaft 14 has a shaft portion 14b and a head portion 14a having a large diameter.
  • the third guide rollers 10a and 10b are rotatably supported through the shaft portion 14b of the third support shaft 14.
  • the third guide rollers 10a and 10b are interposed between the roller base 6 and the head portion 14a of the third support shaft 14.
  • the shaft portion 13b of the second support shaft 13 is fixed to the second insertion hole 6b by press-fitting or the like through the second guide rollers 9a and 9b.
  • the second support shaft 13 has a shaft portion 13b and a head portion 13a having a large diameter.
  • the second guide rollers 9a and 9b are rotatably supported through the shaft portion 13b of the second support shaft 13.
  • the second guide rollers 9a and 9b are interposed between the roller base 6 and the head portion 13a of the second support shaft 13.
  • the shaft portion 15b of the fourth support shaft 15 is fixed by inserting the fourth guide rollers 11a and 11b into the second insertion hole 6b on the opposite side by press fitting or the like.
  • the fourth support shaft 15 has a shaft portion 15b and a head portion 15a having a large diameter.
  • the fourth guide rollers 11a and 11b are rotatably supported through the shaft portion 15b of the fourth support shaft 15.
  • the fourth guide rollers 11a and 11b are interposed between the roller base 6 and the head portion 15a of the fourth support shaft 15.
  • a first wire w1 is hung between the first guide roller 8a and the second guide roller 9a. Then, the first wire w1 is hung on the first pulley 3a and sandwiched between the third guide roller 10a and the fourth guide roller 11a which are rotatably supported on the other side of the roller base 6 as shown in FIG. Is being guided.
  • a second wire w2 is hung between the first guide roller 8b and the second guide roller 9b. Then, the second wire w2 is hung on the second pulley 3b and sandwiched between the third guide roller 10b and the fourth guide roller 11b which are rotatably supported on the other side of the roller base 6 as shown in FIG. Is being guided.
  • the first wire w1 and the second wire w2 are arranged so as to pass through the rotation center C1 of the first joint 2 or its vicinity.
  • FIG. 6 (a) is a view taken along the arrow in the D direction of FIG. 3
  • FIG. 6 (b) is a diagram showing a state in which the first joint 2 is bent from the state of FIG. 6 (a).
  • the second arm pulley 5a rotates about the rotation center C1 by pulling the wire w3 in the ⁇ 31 direction of FIG. 6A from the state of FIG. 6A, and FIG. 6B shows. As shown in FIG. 6, the second arm 5 is rotated around the rotation center C1 with respect to the first arm 4 (direction of arrow ⁇ 12 in FIG. 6A).
  • the forceps device K by pulling the wire w3 in the ⁇ 32 direction of FIG. 6A from the state of FIG. 6A, the second arm pulley 5a rotates about the rotation center C1 and the second arm 5 can be rotated around the center of rotation C1 with respect to the first arm 4 in the direction opposite to the second arm 5 in FIG. 6 (b) (direction of arrow ⁇ 11 in FIG. 6 (a)).
  • the first wire w1 is moved in the direction of the arrow ⁇ 12 to move the first pulley 3a and the gripped portion 1b. 1a and 1a are rotated around the center of rotation C2 in the direction of arrow ⁇ 22. Further, by moving the second wire w2 in the direction of the arrow ⁇ 22, the second pulley 3b and the grip portion 1b are rotated in the direction of the arrow ⁇ 32 around the rotation center C2.
  • the change in the path length of the forceps device K according to the above reference example will be described.
  • the rotation of the roller base 6 that supports the guide rollers (8a to 11b) is passive.
  • the roller base 6 on which the guide rollers (8a to 11b) are supported can freely rotate with respect to the first joint 2 on which the guide rollers (8a to 11b) are supported.
  • the roller base 6 moves passively. That is, the force on the guide rollers (8a to 11b) by the wires (w1, w2) when the first joint 2 bends causes the roller base 6 to rotate independently of the movement of the first joint 2.
  • the change (increase) in each path length of the wires (w1, w2) when the first joint 2 is bent is kept to a minimum.
  • FIG. 7 is a schematic diagram for explaining a change in the path lengths of the wires w1 and w2 when the second arm 5 is bent.
  • FIG. 7 shows a change in the path length of the wires w1 and w2 when the second arm 5 is bent by an angle ⁇ 1 with respect to the first arm 4 in the first joint 2, and the conventional guide roller (guide portion) 111 is fixed.
  • This is a comparison between the case where the guide roller (guide portion) 8 according to the reference example is provided and the case where the roller base (guide portion base) 6 provided with the guide roller (guide portion) 8 is made rotatable.
  • the set of guide rollers 111 that restrain the wires (w1, w2) is fixed to the joint rotation axis (rotation center C1) itself, and the rotation center C10 of the guide rollers 111 does not move. Therefore, when the second arm 5 is bent at an angle ⁇ 1 with respect to the first arm 4, the wires w10 and w20 are wound around the guide roller 111, and the path lengths of the wires w10 and w20 are shortened by s2.
  • the guide rollers (8 to 11) according to the reference example, that is, the roller base 6, has a structure that can passively rotate around the rotation center 6O. Therefore, when the second arm 5 is bent at an angle ⁇ 1 with respect to the first arm 4, the pair of guide rollers (8 to 11) is pushed around the rotation center 6O so as to be pushed by the tension of the wires w1 and w2 and the tension becomes lower. Rotate to. Therefore, the change (increase) in the path length of the wires (w1, w2) is minimized.
  • the guide center of the guide roller (8a to 11b) pair of the forceps device K is the same as or near the rotation center C1 of the first joint 2, and the outer circumference of the roller base 6 on which the guide roller set (8a to 11b) is supported.
  • the forceps device K is miniaturized by sliding the portion 6g with respect to the first joint 2 on which the forceps device K is mounted. This is because the roller base 6 that supports the guide rollers (8a to 11b) is rotatably supported by sliding the outer peripheral portion 6g, so that it is necessary to arrange the rotation mechanism of the roller base 6 in the central portion of the roller base 6. No. Therefore, the guide rollers (8a to 11b) can be arranged at the center of the roller base 6. Therefore, a compact arrangement is possible.
  • the roller base 6 since the roller base 6 slides on the outer peripheral portion 6 g and is rotatable, the roller base 6 is rotated by the forces of the first wire w1 and the second wire w2. do. Then, the equilibrium state is reached when the tensions of the first wire w1 and the second wire w2 are low. That is, the roller base 6 rotates so that the tension of the first wire w1 and the second wire w2 becomes the smallest.
  • the guide portion of the wire (w1, w2) may be a fixing pin instead of the guide roller (8a to 11b).
  • the guide center 8O (see FIG. 8) between the guide rollers (8, 9) of the guide portion and / or the guide center 10O (see FIG. 8) between the guide rollers (10, 11), and the roller base of the guide base. Since the rotation center 6O of 6 coincides with the rotation center 6O, it is possible to suppress a change in the path length of the wires (w1, w2) when the roller base 6 rotates.
  • the interference between the joints can be minimized or minimized, so that the tension acting on the wire is suppressed from being affected by the bending angle of each joint, and the external force acting on the forceps from the wire tension is made highly accurate. It becomes possible to estimate. Therefore, the external force acting on the multi-degree-of-freedom forceps can be transmitted with high accuracy to an operator such as a doctor who operates the isolated operation unit. Therefore, more precise and safe treatment, surgery, etc. can be performed as compared with the conventional case.
  • the forceps device K according to the reference example shown in FIG. 6A is in a state where the first joint 2 is in a neutral position where the grip portions 1a and 1b are not flexing. In this state, the first wire w1 and the second wire w2 are located between the third guide roller 10a and the fourth guide roller 11a. Further, in the neutral position, the straight line L1 connecting the rotation centers of the third guide roller 10a and the fourth guide roller 11a is substantially perpendicular to the direction L2 in which the first wire w1 and the second wire w2 extend. Therefore, the first wire w1 and the second wire w2 are in a state of receiving almost no force from the third guide roller 10a and the fourth guide roller 11a.
  • the third guide roller 10a which has not been urged from the first wire w1 and the second wire w2 until then, becomes It will receive force from the first wire w1 and the second wire w2.
  • a phenomenon occurs in which the first wire w1 and the second wire w2 jump from the guide roller previously guided to another guide roller. At the moment of jumping, almost no force in the bending direction acts between the wire and the guide roller, so that the movement of the wire cannot be controlled accurately, and the movement of the wire tends to be unstable.
  • the inventor of the present application has devised a guide mechanism configured so that at least one of the plurality of guide portions receives a force from the gripping wire in the range in which the first joint serves as the center of rotation and the grip portion bends. ..
  • the forceps device according to the present embodiment will be described.
  • FIG. 9 is a perspective view of the forceps device K'according to the present embodiment.
  • FIG. 10 is a side view of the forceps device K'shown in FIG. 9 as viewed from the direction of the rotation center C1.
  • FIG. 11 is a side view of the forceps device K'shown in FIG. 9 as viewed from the rotation center C2 direction.
  • FIG. 12 is a side view of the roller base according to the present embodiment.
  • FIG. 13 is a perspective view showing a state in which a guide roller is attached to the roller base according to the present embodiment.
  • FIG. 14 is a diagram schematically showing the positions of the guide rollers when the roller base is viewed from one side surface.
  • the main feature of the forceps device K' is that the arrangement of each guide roller provided in the roller base when in the neutral position is different from that of the forceps device K according to the reference example. Therefore, the other configurations are designated by the same reference numerals and the description thereof will be omitted as appropriate.
  • the forceps device K moves the grip portions 1a and 1b, and the third wire w3 and the third wire w3 that move when the gripping portions 1a and 1b are bent.
  • the first joint 2 which is the center of rotation when the grip portion bends
  • the first wire w1 and the second wire w2 which move when the grip operation of the grip portions 1a and 1b is realized
  • the first wire w1 and A guide mechanism provided in the first joint 2 and the second joint 3 which is the center of rotation when the grip portions 1a and 1b are gripped by the movement of the second wire w2 to guide the first wire w1 and the second wire w2.
  • the roller base 16 is provided with the first guide rollers 8 to the fourth guide rollers 11, and the first joint 2 serves as the rotation center C1 and the grip portions 1a and 1b serve as the rotation center C1.
  • the first guide roller 8 to the fourth guide roller 11 is configured to always receive a force from the first wire w1 or the second wire w2.
  • the first wire w1 and the second wire w2 receive a force from any one of the first guide roller 8 to the fourth guide roller 11, so that the first wire w1 And the unstable movement of the second wire w2 can be suppressed.
  • the first wire w1 and the second wire w2 urge at least one of the plurality of first guide rollers 8 to 4 fourth guide rollers 11 in the range in which the grip portions 1a and 1b are bent.
  • the first wire w1 and the second wire w2 are urged. Unstable movement of the 1st wire w1 and the 2nd wire w2 can be suppressed.
  • the roller base 16 has a guide roller pair including the third guide roller 10 and the fourth guide roller 11 as a plurality of guide portions.
  • the first wire w1 and the second wire w2 are arranged so as to be guided between the third guide roller 10 and the fourth guide roller 11.
  • the third guide roller 10 and the fourth guide roller 11 have the third guide roller 10 and the fourth guide roller 11 in a state where the first joint 2 is in a neutral position where the grip portions 1a and 1b are not bent.
  • the straight line L1 connecting the respective rotation centers C3 and C4 is arranged so as to be oblique to the extending direction L2 of the gripping wire.
  • the first wire w1 and the second wire w2 are slightly bent while being sandwiched between the third guide roller 10 and the fourth guide roller 11. Will be placed. That is, the third guide roller 10 and the fourth guide roller 11 are arranged to receive forces from the first wire w1 and the second wire w2, respectively.
  • the first joint 2 has a columnar roller base 16 that rotatably supports the first guide rollers 8 to the fourth guide rollers 11.
  • the roller base 16 has a third guide roller 10 and a fourth guide roller 11 arranged on one bottom surface (side surface 16a), and a first guide roller 8 and a second guide roller 9 on the other bottom surface (side surface 16b).
  • the first wire w1 and the second wire w2 are guided between the third guide roller 10 and the fourth guide roller 11, and are guided by the second joint 3 and folded back, and then the first guide roller 8 and the second wire w2. 2 It is arranged so as to be guided between the guide rollers 9.
  • the third guide roller 10 and the fourth guide roller 11 have the third guide roller 10 and the fourth guide roller 11 in a state where the first joint 2 is in a neutral position where the grip portions 1a and 1b are not bent.
  • the angle formed by the straight line L1 connecting the respective rotation centers C3 and C4 of the fourth guide roller 11 and the extending direction L2 of the first wire w1 and the second wire w2 is ⁇ 3 (0 ° ⁇ 3 ⁇ 90 °). (See FIG. 14).
  • first guide roller 8 and the second guide roller 9 are of the first guide roller 8 and the second guide roller 9 in a state where the first joint 2 is in a neutral position where the grip portions 1a and 1b are not bent. It is arranged so that the angle formed by the straight line L1'connecting the respective rotation centers C3'and C4'and the extending direction L2 of the gripping wire is ⁇ 4 ( ⁇ 90 ° ⁇ 4 ⁇ 0 °).
  • the angle ⁇ 3 formed may satisfy the relationship of 60 ° ⁇ 3 ⁇ 85 °.
  • the present invention can be used for a medical forceps device.

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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

L'invention concerne un dispositif de forceps K' comprenant : des parties de maintien 1a, 1b ; un troisième fil qui se déplace lors de la mise en oeuvre d'un mouvement de flexion des parties de maintien ; un premier joint qui est le centre de rotation du mouvement de flexion des parties de maintien provoqué par le mouvement d'un fil pour la flexion ; un fil de maintien qui se déplace lors de la mise en oeuvre d'un mouvement de maintien des parties de maintien ; un second joint qui est le centre de rotation du mouvement de maintien des parties de maintien provoqué par le mouvement du fil pour le maintien ; et un mécanisme de guidage qui est disposé sur le premier joint et guide le fil pour le maintenir. Le mécanisme de guidage comporte une pluralité de parties de guidage, et au moins l'une de la pluralité de parties de guidage est configurée pour recevoir une force provenant du fil pour rester dans une plage dans laquelle les parties de maintien sont courbées avec le premier joint en tant que centre de rotation.
PCT/JP2020/007028 2020-02-21 2020-02-21 Dispositif de forceps WO2021166217A1 (fr)

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PCT/JP2020/007028 WO2021166217A1 (fr) 2020-02-21 2020-02-21 Dispositif de forceps

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140276956A1 (en) * 2011-11-04 2014-09-18 Titan Medical Inc. Apparatus and method for controlling an end-effector assembly
WO2018207809A1 (fr) * 2017-05-11 2018-11-15 リバーフィールド株式会社 Dispositif d'actionnement de fil et procédé de retenue pour fil

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140276956A1 (en) * 2011-11-04 2014-09-18 Titan Medical Inc. Apparatus and method for controlling an end-effector assembly
WO2018207809A1 (fr) * 2017-05-11 2018-11-15 リバーフィールド株式会社 Dispositif d'actionnement de fil et procédé de retenue pour fil

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