WO2022054212A1 - Dispositif de pince - Google Patents

Dispositif de pince Download PDF

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Publication number
WO2022054212A1
WO2022054212A1 PCT/JP2020/034368 JP2020034368W WO2022054212A1 WO 2022054212 A1 WO2022054212 A1 WO 2022054212A1 JP 2020034368 W JP2020034368 W JP 2020034368W WO 2022054212 A1 WO2022054212 A1 WO 2022054212A1
Authority
WO
WIPO (PCT)
Prior art keywords
pulley
pulleys
forceps device
pair
rotation axis
Prior art date
Application number
PCT/JP2020/034368
Other languages
English (en)
Japanese (ja)
Inventor
恭平 滝川
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/JP2020/034368 priority Critical patent/WO2022054212A1/fr
Priority to JP2020572559A priority patent/JP6867073B1/ja
Publication of WO2022054212A1 publication Critical patent/WO2022054212A1/fr

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Classifications

    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the present invention relates to a forceps device used in a manipulator of a surgical robot.
  • Patent Document 1 each of a plurality of pulleys wound in a predetermined order so as to realize opening and closing of a pair of jaws constituting the catching portion while realizing yaw movement and pitch movement of the catching tool.
  • a robot wrist that controls the drive of a cable is disclosed.
  • the above-mentioned robot wrist has a small diameter of the jaw pulley that rotates together when opening and closing a pair of jaws. Therefore, there is a limit to the increase in the operating torque (grip force) at the jaw.
  • the diameter of the jaw pulley is increased, the fleet angle of the cable from the guide pulley supported coaxially with the rotation axis of the yoke that rotatably supports the jaw pulley to the jaw pulley increases. Therefore, the forceps may not be controlled smoothly because the cable may come off the pulley or the edge of the pulley may interfere with the cable.
  • the present invention has been made in view of such a situation, and one of its exemplary purposes is to provide a new forceps device with good controllability.
  • the forceps device includes a pair of grip portions, a support that holds the pair of grip portions, and a first rotation shaft that rotatably supports the support. It includes a base component that holds the first rotation axis, and a plurality of first pulleys that are arranged coaxially with the first rotation axis. The first pulley is rotatably supported by the first rotation shaft so as to be inclined with respect to the first rotation shaft.
  • the tilting of the first pulley with respect to the first axis of rotation reduces the substantial fleet angle of the wire with respect to the first pulley and makes it less likely that the wire will interfere with the first pulley.
  • the first pulley is rotatably supported by the first rotation shaft not only when it is directly supported by the first rotation shaft, but also by another member (for example, a part of the support member). ) Includes the case where it is rotatably supported.
  • the first pulley slides relative to the centerline of the circular opening through which the first axis of rotation passes with respect to the first axis of rotation or the other annular portion into which the first axis of rotation is inserted.
  • the inner peripheral surface may be inclined. As a result, the first pulley is autonomously tilted by the force received from the wire having the fleet angle.
  • the first pulley may have an angle formed by the center line and the inner peripheral surface in the range of 3 ° to 7 °.
  • a second rotation axis that rotatably supports a pair of grips held by the support and is held by the support, and a plurality of second pulleys that are held coaxially with the second rotation axis.
  • a plurality of wires hung between the first pulley and the plurality of second pulleys may be provided.
  • the first pulley may be inclined with respect to the first rotation axis so that the plurality of hung wires extend outward toward the outer circumference of the second pulley. This makes it possible to suppress wire interference in the first pulley even if a second pulley having a large diameter that easily increases the operating torque in the pair of grips is used.
  • the base component is held by a pair of arms holding both ends of the first rotation shaft and a third rotation that is held by the pair of arms and rotatably supports a third pulley located upstream of the first pulley. It may have a shaft and.
  • the arm may have a thinner tip portion that holds the first rotation axis than a root portion that holds the third rotation axis. As a result, even when the wire having a fleet angle is bent around the first rotation axis together with the support, it is less likely to interfere with the arm.
  • the width of the tip part in the circumferential direction of the arm is narrower than that of the root part.
  • the outer diameter of the second pulley is larger than the distance between the roots of the pair of arms.
  • the plurality of first pulleys are arranged adjacent to each other on both sides of the support, and one of the two adjacent first pulleys abuts on the support in an inclined state and is adjacent to each other.
  • the other of the two first pulleys may abut on the base component in an inclined manner.
  • FIG. 3 is a front view of the forceps device of FIG. 1 as viewed from the A direction.
  • FIG. 3 is a side view of the forceps device of FIG. 1 as viewed from the B direction.
  • FIG. 3 is a side view of the forceps device of FIG. 1 as viewed from the C direction.
  • FIG. 3 is a cross-sectional view taken along the line DD of the forceps device 10 shown in FIG. It is an enlarged view of the area R of FIG. It is a front view of the guide pulley which concerns on this embodiment.
  • FIG. 7 is a cross-sectional view taken along the line EE of the guide pulley shown in FIG.
  • FIG. 1 is a perspective view of the forceps device according to the present embodiment.
  • FIG. 2 is a front view of the forceps device of FIG. 1 as viewed from the A direction.
  • FIG. 3 is a side view of the forceps device of FIG. 1 as viewed from the B direction.
  • FIG. 4 is a side view of the forceps device of FIG. 1 as viewed from the C direction.
  • the forceps device 10 shown in each figure includes a pair of grip portions 12a and 12b, a support 14 that holds the pair of grip portions 12a and 12b, and a first rotation shaft 16 that rotatably supports the support 14.
  • a base component 18 for holding the first rotating shaft 16, four guide pulleys 20 arranged coaxially with the first rotating shaft 16, and a pair of grip portions 12a and 12b are rotatably supported and supported.
  • the wires 26, 28, 30, 32 and the wires 38, 40 for rotating the support 14 about the first rotation shaft 16 are provided.
  • FIG. 5 is a DD cross-sectional view of the forceps device 10 shown in FIG.
  • FIG. 6 is an enlarged view of the region R of FIG.
  • the guide pulley 20 has a first rotation shaft via a cylindrical annular portion 14a that is a part of the support 14 so as to be inclined with respect to the first rotation shaft 16. It is rotatably supported by 16.
  • each of the wires 26, 28, 30, and 32 has a substantially smaller fleet angle with respect to the guide pulley 20, and is less likely to interfere with the edge 20b of the guide groove 20a of the guide pulley 20.
  • the guide pulley 20 may be directly supported by the first rotating shaft 16 without going through the support body 14.
  • FIG. 7 is a front view of the guide pulley 20 according to the present embodiment.
  • FIG. 8 is a cross-sectional view taken along the line EE of the guide pulley 20 shown in FIG.
  • the inner peripheral surface 20d is inclined with respect to the center line CL of the circular opening 20c through which the first rotation shaft 16 penetrates.
  • the inner peripheral surface 20d slides with respect to the annular portion 14a of the support 14 into which the first rotation shaft 16 is inserted.
  • the guide pulley 20 is autonomously tilted by the force received from the wire having the fleet angle.
  • the inner peripheral surface 20d of the guide pulley 20 slides directly on the outer peripheral surface of the first rotating shaft 16.
  • the inner peripheral surface 20d is formed so that the inner diameter d gradually expands as the guide pulley 20 is orthogonal to the center line CL and is separated from the plane P having the smallest inner diameter d along the center line CL. ing.
  • the inner peripheral surface 20d may be formed as a conical shape, a mortar shape, or a tapered surface.
  • the inner peripheral surface 20e on the opposite side of the flat surface P with the inner peripheral surface 20d is also processed into the same shape as the inner peripheral surface 20d.
  • the guide pulley 20 has an angle ⁇ formed by the inner peripheral surface 20d and the inner peripheral surface 20e and the center line CL in the range of 3 to 7 °. Further, one end surface 20f of the guide pulley 20 is inclined at an angle ⁇ with respect to the plane P, and the angle formed by the one end surface 20f and the inner peripheral surface 20d is 90 °. Further, the other end surface 20g of the guide pulley 20 is parallel to the plane P (orthogonal to the center line CL). Therefore, the guide pulley 20 is an annular member whose left and right sides are asymmetrical with the plane P in between.
  • two guide pulleys 20 are arranged adjacent to each other on both sides of the support 14. Then, as shown in FIG. 6, when the two guide pulleys 20 are arranged side by side and mounted on the annular portion 14a, the other end faces 20g are opposed to each other. As a result, one of the two adjacent guide pulleys 20 (guide pulley 20A) abuts on the support 14 in an inclined state, and the other of the two adjacent guide pulleys 20 (guide pulley 20B) is in an inclined state. It abuts on the base component 18. As a result, when the guide pulley 20 is tilted, the position of the guide pulley 20 in the first rotation axis direction X is accurately determined.
  • each guide pulley 20 is inclined with respect to the first rotation shaft 16 so that the plurality of hung wires 26 and 28 spread outward toward the outer circumference of the jaw pulley 24. ..
  • the interference of the wire in the guide pulley 20 can be suppressed.
  • the base component 18 As shown in FIGS. 2 and 5, the base component 18 according to the present embodiment is held by a pair of arms 18a and 18b that hold both ends of the first rotating shaft 16 and a pair of arms 18a and 18b. It has a third rotating shaft 36 that rotatably supports the four guide pulleys 34 located upstream of the guide pulley 20. The third rotating shaft 36 according to the present embodiment is provided on each of the pair of arms 18a and 18b.
  • the arms 18a and 18b have a thinner tip portion 18d that holds the first rotating shaft 16 than a root portion 18c that holds the third rotating shaft 36. In other words, the distance between the tip portions 18d is wider than the distance between the root portions 18c. As a result, as shown in FIG. 3, even when the wires 26 and 28 having the fleet angle are bent around the first rotation axis 16 together with the support 14 (in the direction of arrow F in FIG. 3), the arm 18a , 18b is less likely to interfere.
  • the circumferential width W1 of the tip portion 18d of the arm 18a (arm 18b) is narrower than the circumferential width W2 of the root portion 18c.
  • the width of the root portion 18c in the circumferential direction is made larger than the width of the tip portion 18d in the circumferential direction while forming a U-shaped relief portion in the tip portion 18d where interference with the wire needs to be considered. It is possible to suppress the decrease in the rigidity of the arm.
  • the outer diameter G1 of the jaw pulley 24 according to the present embodiment is larger than the distance G2 between the root portions 18c of the pair of arms 18a and 18b. That is, the forceps device 10 according to the present embodiment can adopt a jaw pulley 24 having a large outer diameter for the size of the inner diameter of the cylindrical base component 18.
  • the present invention has been described above with reference to the above-described embodiment, the present invention is not limited to the above-described embodiment, and the present invention is not limited to the above-described embodiment, and the present invention may be a combination or substitution of the configurations of the embodiments as appropriate. It is included in the present invention. Further, it is also possible to appropriately rearrange the combinations and the order of processing in the embodiment based on the knowledge of those skilled in the art, and to add modifications such as various design changes to the embodiments, and such modifications are added. The embodiments described above may also be included in the scope of the present invention.
  • the present invention can be used as a manipulator for a surgical robot.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif de pince (10) comprenant : une paire de sections de préhension (12a, 12b) ; un corps support (14) destiné à maintenir la paire de sections de préhension ; un premier arbre rotatif destiné à supporter de manière rotative le corps support (14) ; un composant de base (18) destiné à maintenir le premier arbre rotatif ; et une pluralité de poulies de guidage (20) disposées de façon coaxiale avec le premier arbre rotatif. Les poulies de guidage (20) sont supportées de manière rotative sur le premier arbre rotatif de manière à être inclinées par rapport au premier arbre rotatif.
PCT/JP2020/034368 2020-09-10 2020-09-10 Dispositif de pince WO2022054212A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2020/034368 WO2022054212A1 (fr) 2020-09-10 2020-09-10 Dispositif de pince
JP2020572559A JP6867073B1 (ja) 2020-09-10 2020-09-10 鉗子装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/034368 WO2022054212A1 (fr) 2020-09-10 2020-09-10 Dispositif de pince

Publications (1)

Publication Number Publication Date
WO2022054212A1 true WO2022054212A1 (fr) 2022-03-17

Family

ID=75638903

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/034368 WO2022054212A1 (fr) 2020-09-10 2020-09-10 Dispositif de pince

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JP (1) JP6867073B1 (fr)
WO (1) WO2022054212A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018538065A (ja) * 2015-12-10 2018-12-27 シーエムアール・サージカル・リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ 手術器具を回動させるプーリ機構
WO2020044994A1 (fr) * 2018-08-28 2020-03-05 株式会社メディカロイド Appareil chirurgical robotisé

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018538065A (ja) * 2015-12-10 2018-12-27 シーエムアール・サージカル・リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ 手術器具を回動させるプーリ機構
WO2020044994A1 (fr) * 2018-08-28 2020-03-05 株式会社メディカロイド Appareil chirurgical robotisé

Also Published As

Publication number Publication date
JP6867073B1 (ja) 2021-04-28
JPWO2022054212A1 (fr) 2022-03-17

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