WO2022163713A1 - Dispositif de forceps - Google Patents

Dispositif de forceps Download PDF

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Publication number
WO2022163713A1
WO2022163713A1 PCT/JP2022/002914 JP2022002914W WO2022163713A1 WO 2022163713 A1 WO2022163713 A1 WO 2022163713A1 JP 2022002914 W JP2022002914 W JP 2022002914W WO 2022163713 A1 WO2022163713 A1 WO 2022163713A1
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WO
WIPO (PCT)
Prior art keywords
bending
operating
forceps device
sandwiching
state
Prior art date
Application number
PCT/JP2022/002914
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English (en)
Japanese (ja)
Inventor
励史 道本
賢樹 増田
Original Assignee
朝日インテック株式会社
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 朝日インテック株式会社 filed Critical 朝日インテック株式会社
Priority to CN202280011730.4A priority Critical patent/CN116806135A/zh
Publication of WO2022163713A1 publication Critical patent/WO2022163713A1/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 forceps devices used in surgical operations such as endoscopic surgical operations, for example.
  • a forceps device is known as a device for cutting or grasping tissue.
  • an endoscope camera equipped with a high-resolution camera is used, and the operator uses forceps for endoscopic surgery through the monitor. Perform the procedure using the device.
  • the forceps device may be inserted deep into the body, and a forceps device with a long shaft is used.
  • a forceps device with a detachable handle is known as such a forceps device (see, for example, Patent Document 1).
  • the operator may perform the procedure with a forceps device on each hand.
  • the operator may operate the forceps device with both hands separately. There must be. Furthermore, when an operation is performed by a plurality of operators, a forceps device for each hand must be prepared for each operator.
  • the present invention has been made based on the circumstances as described above, and an object thereof is to provide a forceps device that can be used easily and appropriately with either hand of the operator.
  • a forceps device is a forceps device that includes a sandwiching portion capable of sandwiching an object, and a proximal end side of the sandwiching portion that is connected to the sandwiching portion so that it can assume a straight state and a bent state.
  • the operating portion can be arranged in a predetermined first state with respect to the axis of the shaft portion, and can be arranged in a second state obtained by rotating the first state to the opposite side about the axis of the shaft portion.
  • the bending operation section has a first operation dial for operating bending within an operable range with the fingers of one hand operating the operation section when the operation section is arranged in the first state. It also has a second operation dial for manipulating bending within an operable range with a finger of one hand operating the operation portion when the operation portion is arranged in the second state.
  • the operation portion may be rotatable about the axis of the shaft portion.
  • the operation section may be detachable from the main body section.
  • one end of a pair of operating wires is connected to the distal end of the bent portion, and the other end of the pair of operating wires is connected to rotate about a predetermined axis, thereby It has an adjustment unit that can adjust the tension of the operation wire by pulling the operation wire, and the adjustment unit can be rotated by rotating the first operation dial or the second operation dial. good.
  • the adjusting section has a worm wheel and a worm screwed into the worm wheel, and the first operating dial and the second operating dial are rotatable about the shaft of the worm. good too.
  • the first operation dial and the second operation dial may rotate the shaft of the worm in the same direction when rotated in the same direction.
  • the above forceps device may further include a shaft adjustment section capable of rotating the shaft section about the axis of the shaft section.
  • a forceps device is a forceps device that includes a sandwiching portion capable of sandwiching an object, and a proximal end side of the sandwiching portion that is connected to the sandwiching portion so that it can assume a straight state and a bent state.
  • a bent portion and a shaft portion connected to the base end side of the bent portion is configured by arranging a plurality of link parts in series, and the bent portion includes a first A link component and a second link component adjacent to the proximal side of the first link component, wherein the first link component extends proximally on a line perpendicular to the bending surface of the bending portion, a first convex portion protruding outward and a first concave portion concave inward on the opposite side of the first convex portion on a line perpendicular to the bending surface;
  • the component includes a second convex portion protruding outward on a line perpendicular to the bending surface on the opposite side of the first convex portion and loosely fitting with the first concave portion; It has a second concave portion which is recessed inwardly on the side opposite to the first concave portion on a line perpendicular to the surface and loosely fitted with the first convex portion.
  • the surfaces of adjacent link members contact each other on one side of the bent surface, and are adjacent to each other on the other side of the bent surface.
  • the surfaces of the link members may be non-contact.
  • a forceps device is a forceps device that includes a sandwiching portion capable of sandwiching an object, and a proximal end side of the sandwiching portion that is connected to the sandwiching portion so that it can assume a straight state and a bent state.
  • a bending portion a shaft portion connected to the base end side of the bending portion, a pair of operating wires having one end connected to the tip side of the bending portion, and the other ends of the pair of operating wires connected to each other,
  • an operating wire driving unit capable of pulling one operating wire and pushing the other operating wire, and by the operating wire driving unit when bending the bending portion.
  • a maximum amount adjusting unit capable of adjusting the maximum amount that can be pulled by the operating line driving unit for one of the operating lines to be pulled.
  • the operating line driving section has a partially circular movement amount adjustment section that rotates about the predetermined axis, and the maximum amount adjustment section contacts a side portion of the movement amount adjustment section.
  • the maximum amount may be regulated by restricting the rotation of the movement amount adjustment section, and the maximum amount adjustment section may be able to change a position of contact with the side portion.
  • the maximum amount adjusting section is installed rotatably around a predetermined axis, and has a shape with different distances from the predetermined axis to the outer surface. It may be possible to change the position of contact with the side portion by changing the portion of the outer surface that contacts the side portion.
  • a forceps device is a forceps device that includes a sandwiching portion capable of sandwiching an object, and a proximal end side of the sandwiching portion connected to the sandwiching portion so that it can take a straight state and a bent state.
  • a flexible bending portion a shaft portion connected to the base end side of the bending portion, a bending operation portion capable of operating the bending by the bending portion, and a pinching operation of the pinching portion, and the user can operate the pinching portion with one hand.
  • FIG. 1 is a perspective view of a forceps device according to one embodiment
  • FIG. 1 is an exploded view of a forceps device
  • FIG. Fig. 4 is an exploded view of the main body of the forceps device
  • FIG. 4 is an exploded view of the clamping portion and related parts of the forceps device
  • 4 is an exploded view of the operating portion of the forceps device
  • FIG. 10A is a top view, a side view, and a rear view of the forceps device in a left-handed state
  • Fig. 10 is a perspective view of the forceps device in a right-handed state
  • FIG. 10A is a top view, a side view, and a rear view of the forceps device in a right-handed state
  • FIG. 10A is a top view, a side view, and a rear view of the forceps device in a right-handed state
  • FIG. 10A is a top view, a side view, and a rear view of the
  • FIG. 10 is a view showing a connection state between the main body portion and the operation portion of the forceps device in the left-handed state;
  • FIG. 10 is a diagram showing a state when the main body and the operation section are attached and detached. It is an enlarged view of the bent portion of the forceps device.
  • FIG. 4 is a diagram for explaining a configuration of link parts of a bent portion and a method of connecting the link parts; It is a figure explaining the structure in connection with bending-stretching operation
  • front end side and front end direction mean the side and direction where the pinching portion is located.
  • proximal side and proximal direction mean the side and direction where the operating portion for applying power to drive the sandwiching portion is located.
  • distal end refers to the distal end of any member or site, and the term “basal end” refers to the proximal end of any member or site.
  • FIG. 1 is a perspective view of a forceps device according to one embodiment, and is a perspective view of the forceps device in a state (left-handed state) assuming operation with the left hand.
  • the illustrated X-axis, Y-axis, and Z-axis are appropriately used.
  • the positive direction of the X-axis indicates the distal side
  • the reverse indicates the proximal side.
  • the Z-axis direction is the vertical direction
  • the X-axis is the longitudinal direction
  • the Y-axis is the longitudinal direction. It is a transverse direction that is perpendicular to each other. Therefore, the Z-axis direction is sometimes called the vertical direction, and the Y-axis direction is sometimes called the left-right direction or the horizontal direction.
  • the forceps device 1 is a multi-degree-of-freedom forceps device, and includes a clamping portion 7 , a bending portion 6 , a body portion 2 including a shaft portion 4 , and an operation portion 8 .
  • the sandwiching portion 7 is a portion for gripping an object, and is capable of opening and closing the end effectors 71 and 72 (see FIG. 4) and rotating the shaft portion 4 about its axis.
  • the bent portion 6 connects the sandwiching portion 7 and the shaft portion 4 and can take a straight state along the axial direction of the shaft portion 4 and a bent state bent in a predetermined direction.
  • the main body part 2 includes a shaft part 4, and in order to rotate about the axis of the clamping part 7, the bending part 6 is straightened or bent (bending and stretching action). It is a part for operation.
  • the operation part 8 is a part operated by the user to open and close the sandwiching part 7 .
  • FIG. 2 is an exploded view of the forceps device.
  • the forceps device 1 can be disassembled into, for example, the operation portion 8, the body portion 2, the bending portion 6, the clamping portion 7, and the operation wire 36.
  • the operating wire 36 includes, from the base end side, an engaging portion 36e for engaging with the operating portion 8, a polygonal (for example, hexagonal) hypotube 36a, and a cylindrical hypotube 36b. , a wire rope 36c, and a hollow rope 36d covering the tip side of the wire rope 36c.
  • the hollow rope 36d is a hollow wire rope.
  • the hollow rope 36d is arranged at a position corresponding to the bent portion of the bent portion 6 when the sandwiching portion 7 is attached to the tip of the bent portion 6, and the length L1 in the X-axis direction is the length of the bent portion of the bent portion 6. It's longer than it should be. According to the hollow rope 36d, it is possible to reinforce the elastic force against bending with respect to the wire rope 36c, so that the shape of the bent portion 6 in the bent state can be substantially the same.
  • FIG. 3 is an exploded view thereof.
  • the body portion 2 of the forceps device 1 includes a shaft portion 4, body portion cases 21 and 22, a worm 23, a worm wheel 24, a height adjusting member 25, a worm wheel rotating shaft 26, and slide portions 27 and 28. , a pin 29 , a screw 30 , operation dials 31 and 33 (an example of a first operation dial and a second operation dial), screws 32 and 34 , and a clamping portion rotating dial 35 .
  • the adjustment unit and the operating line drive unit in the claims are mainly composed of the worm wheel 24, the pin 29, and the slide portions 27 and 28, and the movement amount adjustment unit is composed of the worm wheel 24 and is bent.
  • the operation unit is mainly composed of a worm 23 and operation dials 31 and 33 .
  • the main body cases 21 and 22 are cases that house the worm 23, the worm wheel 24, the height adjusting member 25, the worm wheel rotating shaft 26, the slide parts 27 and 28, and the pin 29.
  • the main body case 21 has ribs 21a on the base end side for restricting attachment and detachment with the operation unit 8. As shown in FIG.
  • the main body case 21 also has a guide groove 21b that guides the movement of the slide section 27 along the X axis, and a guide groove 21c that guides the movement of the slide section 28 along the X axis.
  • the worm 23 is accommodated in the main body cases 21 and 22 so that the rotation axis is in the Z-axis direction, and an operation dial 31 is fixed by a screw 32 on one end side (the plus side of the Z-axis in FIG. 3) so that the operation dial 31 can rotate integrally.
  • An operation dial 33 is fixed by a screw 34 to the other end side (minus side of the Z axis in FIG. 3) so as to be rotatable together.
  • the operation dials 31 and 33 are disc-shaped dials that are rotated by the user to bend and stretch the bending portion 6 .
  • the worm wheel 24 is arranged so as to mesh with the worm 23 .
  • the worm wheel 24 is attached to the main body cases 21 and 22 by a worm wheel rotating shaft 26 so as to be rotatable about the Y-axis. Therefore, the worm wheel 24 rotates about the Y-axis when the worm 23 rotates about the Z-axis.
  • a height adjusting member 25 is attached by a screw 30 to the negative side of the Y-axis of the worm wheel 24 .
  • Two pins 29 are mounted on the minus side of the Y-axis of the worm wheel 24 and the height adjusting member 25 at symmetrical positions with respect to the rotation axis of the worm wheel 24 .
  • the slide portion 27 is connected to one operating wire 37 (see FIG. 4) for operating the bending and stretching motion of the bending portion 6, and pulls or pushes the operating wire 37 according to the rotation of the worm wheel 24. It is a part to do.
  • the slide portion 27 has a long hole 27a and a convex portion 27b.
  • the long hole 27a is formed extending along the Z-axis and accommodates the pin 29 movably along the Z-axis.
  • the convex portion 27b engages with the guide groove 21b of the main body case 21 to guide the slide portion 27 so as to be linearly movable along the X-axis.
  • the slide portion 28 is connected to one operating wire 38 (see FIG. 4) for operating the bending and stretching operation of the bending portion 6, and pulls or pushes the operating wire 38 according to the rotation of the worm wheel 24. It is a part to do.
  • the slide portion 28 has a long hole 28a and a convex portion 28b.
  • the long hole 28a is formed extending along the Z-axis and accommodates the pin 29 movably along the Z-axis.
  • the convex portion 28b engages with the guide groove 21c of the main body case 21 to guide the slide portion 28 so as to be linearly movable along the X-axis.
  • the sandwiching portion rotation dial 35 is a disk-shaped dial for the user to operate the rotating operation of the sandwiching portion 7 .
  • the pinching portion rotary dial 35 is housed in the body portion cases 21 and 22 so that the rotation axis is the X axis.
  • the clamping portion rotary dial 35 has a through hole 35a corresponding to the outer shape of the hypotube 36a of the operating wire 36 at its center.
  • the clamping portion rotary dial 35 and the hypotube 36a of the operating wire 36 are configured so that the hypotube 36a is positioned to engage with the through hole 35a.
  • the shaft portion 4 includes a main shaft 41, an engaging portion 42, a main shaft dial 43, a dial cap 44, mounting rings 45 and 46, a shaft support portion 47, nuts 48 and 49, and an intermediate cap 50. , and a tip cap 51 .
  • the shaft adjusting section in the claims is mainly configured by the engaging section 42 and the main shaft dial 43 .
  • the main shaft 41 is a hollow cylindrical shaft, and is made of, for example, CFRP (Carbon Fiber Reinforced Plastic), medical stainless steel, or the like.
  • CFRP Carbon Fiber Reinforced Plastic
  • the engaging portion 42 has a substantially cylindrical shape and engages with the distal end portions of the body portion cases 21 and 22 so as to be rotatable about the X axis. Inside the engaging portion 42, there is a fixing portion 42a that fixes the shaft support portion 47 so that it can rotate together.
  • the main shaft dial 43 has a substantially cylindrical shape, and is rotated by the user to rotate the entire shaft portion 4 around the X-axis, specifically, to change the bending direction of the bending portion 6. is.
  • the main shaft dial 43 accommodates the engaging portion 42 so as to be rotatable together.
  • the main shaft dial 43 extends along the X-axis on the inner peripheral side and has a plurality of position regulating grooves 43a formed at positions corresponding to every predetermined center angle.
  • the position regulating groove 43a engages with a rib (not shown) formed on the main body case 21, thereby regulating the shaft portion 4 at a predetermined angular position.
  • the dial cap 44 has a cylindrical shape and is attached to the tip side of the main shaft dial 43 .
  • the shaft support portion 47 is a member having a through hole along the X axis inside, and has a base end portion 47a, a prism portion 47b, a screw portion 47c, and a tip portion 47d.
  • Mounting rings 45 and 46 are mounted around the base end portion 47 a , and the base end portion 47 a is rotatably mounted on the inner circumference of the tip portion of the main body case 21 via the mounting rings 45 and 46 .
  • the prismatic portion 47b has an external shape corresponding to the fixed portion 42a of the engaging portion 42, and is capable of rotating integrally with the engaging portion 42 by being attached to and fixed to the fixed portion 42a.
  • the screw portion 47c is screwed with nuts 48 and 49 .
  • the tip portion 47d has a cylindrical shape with a diameter shorter than the outer diameter of the screw portion 47c.
  • the intermediate cap 50 has a dome shape, engages with the distal end of the engaging portion 42, and covers the base end side of the shaft support portion 47 from the screw portion 47c.
  • the tip cap 51 has a substantially cylindrical shape, and is arranged so as to be movable on the shaft support portion 47 along the X-axis while being positioned radially outside the screw portion 47c and the tip portion 47d of the shaft support portion 47. be done.
  • the base end side of the tip cap 51 contacts a nut 49 screwed onto the threaded portion 47 c , and the position of the tip cap 51 in the negative direction of the X axis is regulated by the position of the nut 49 .
  • a hole 51 a is formed in the tip cap 51 .
  • a fixing pin (not shown) into the hole 51a, the tip cap 51 and the main shaft 41 inserted into the inner hole of the tip cap 51 are fixed.
  • the main shaft 41 may be fixed to the distal end cap 51 so that the position of the proximal end is closer to the proximal end than the shaft support portion 47 , for example.
  • the X-axis position of the tip cap 51 can be adjusted by adjusting the X-axis position of the nut 49 , and as a result, the tip side position of the main shaft 41 can be adjusted. can be done.
  • FIG. 4 is an exploded view thereof.
  • the bent portion 6 is connected to the distal end side of the main shaft 41 .
  • Operating wires 37 and 38 for operating bending and stretching operations are connected to the bending portion 6 .
  • the operating wire 37 has a hypotube 37a, a wire rope 37b, and an engaging terminal 37c from the base end side.
  • the operating wire 38 has a hypotube 38a, a wire rope 38b, and an engagement terminal 38c from the base end side.
  • the sandwiching portion 7 has a pair of end effectors 71 and 72 , a pin 73 , a sandwiching portion body portion 74 and a cam 75 .
  • the sandwiching portion main body portion 74 is a substantially cylindrical member, and the base end side thereof is rotatably attached to the distal end portion of the bending portion 6 .
  • the sandwiching portion body portion 74 extends in the axial direction (X-axis direction) and has a slide groove 74a and a hole 74b that allow the cam 75 to move along the X-axis.
  • the cam 75 is a plate-like member connected to the distal end side of the operating wire 36 so as to be integrally rotatable.
  • the cam 75 includes an oblique groove 75a formed on the surface on the plus side of the Z axis, an oblique groove 75b formed on the surface on the minus side of the Z axis, and protrusions protruding to the plus side and minus side of the Y axis. and a shaped portion 75c.
  • the oblique groove 75a and the oblique groove 75b are configured to have an X shape when viewed from the positive side of the Z axis.
  • the oblique groove 75a is formed so as to be located on the plus side of the X-axis and the plus side of the Y-axis toward the tip side, while the oblique groove 75b is formed so as to be positioned on the plus side of the X-axis toward the tip side. and the negative side of the Y-axis.
  • the cam 75 is arranged in the inner space of the sandwiching portion main body portion 74 so that the convex portion 75c engages with the slide groove 74a of the sandwiching portion main body portion 74 . This allows the cam 75 to move along the X-axis inside the sandwiching portion main body portion 74 .
  • the end effectors 71 and 72 can grip the object by narrowing (closing) the angle between them, and can release the grip of the object by widening the angle between them.
  • the end effector 71 has a surface on the negative side of the Y-axis on the tip side for gripping an object, and has a projection 71a projecting on the negative side of the Z-axis and a hole 71b extending in the Z-axis direction.
  • the end effector 72 has a surface on the plus side of the Y axis on the tip side for gripping an object, and has a projection 72a projecting on the plus side of the Z axis and a hole 72b extending in the Z axis direction.
  • the end effector 71 is overlapped with the projection 71a engaging the oblique groove 75a of the cam 75, and the end effector 72 is overlapped with the projection 72a engaging the oblique groove 75b of the cam 75.
  • the pin 73 is press-fitted into the hole 74b while being inserted into the holes 71b and 72b.
  • the end effector 71 is rotatable about the pin 73 as indicated by arrow R1
  • the end effector 72 is rotatable about the pin 73 as indicated by arrow R2.
  • the protrusion 71a of the end effector 71 is engaged with the oblique groove 75a, when the cam 75 moves to the distal end side, the distal end side rotates in the direction toward the positive side of the Y axis, while the cam 75 rotates toward the proximal end side. When it moves to , it rotates in the direction where the tip side becomes the minus side of the Y-axis.
  • the projection 72a of the end effector 72 is engaged with the ob, when the cam 75 moves toward the distal end side, the distal end side rotates in the negative direction of the Y-axis, while the cam 75 rotates toward the negative side of the Y axis.
  • FIG. 5 is an exploded view of the operating portion of the forceps device.
  • the operating portion 8 has operating portion cases 81 and 82 , a finger hook 84 , a rotation block 85 , a lock bolt 86 , a ratchet pawl 87 , a ratchet gear 88 and a ratchet release button 89 .
  • a finger hook 83 is provided on the operation part case 81 .
  • the finger hook 83 is a part into which the index finger or the middle finger of one hand is inserted to hold the forceps device 1 and apply a driving force for the opening/closing operation of the clamping portion 7 .
  • the finger hook 84 is a part into which the thumb of one hand (basically, the same hand as the finger used for the finger hook 83) is inserted to hold the forceps device 1 and apply a driving force for opening and closing the pinching section 7. is.
  • the finger hook 84 is rotatably attached to the operation part cases 81 and 82, and the angle between the finger hook 83 and the finger hook 83 can be adjusted.
  • a ratchet wheel 88 is attached to the finger hook 84 .
  • the finger hook 84 has an operating wire engaging portion 84 a that engages with the engaging portion 36 e of the operating wire 36 .
  • the engaging portion 36e of the operating wire 36 is moved to the negative side of the X axis, that is, the operating wire 36 is moved to the negative side of the X axis.
  • the lock bolt 86 is arranged in the upper part of the operation part cases 81 and 82, and can fix the rotation block 85 so that it cannot rotate by tightening it.
  • the lock bolt 86 is tightened at a position facing the flat portion 85b of the rotation block 85, so that the main body portion 2 and the operating portion 8 are connected so that the forceps device 1 is in the left-handed state or the right-handed state. can be fixed to
  • a slit 82 a having a shape corresponding to the rib 21 a of the main body case 21 is formed on the inner periphery of the operation part case 82 on the negative side of the Y axis.
  • a removal mark 82b indicating the position of the slit 82a is provided on the outer peripheral side of the operation portion case 82 corresponding to the slit 82a.
  • the rotation block 85 has a substantially cylindrical shape and is housed in the operation part cases 81 and 82 so as to be rotatable by a predetermined angle (for example, 180 degrees) around the X axis.
  • the rotation center of the rotation block 85 is located at a position that substantially coincides with the axis of the main shaft 41 .
  • An engagement hole 85 a that engages with the outer shape of the base end of the main body 2 is formed on the base end side of the rotation block 85 .
  • the engagement hole 85a is, for example, semi-cylindrical.
  • a position on the outer periphery of the rotation block 85 that will be the upper portion of the main body portion 2 when the forceps device 1 is in the left-handed state, and a position that will be the upper portion of the main body portion 2 when the forceps device 1 is in the right-handed state. is provided with a flat portion 85b.
  • a ratchet pawl 87 is attached to the operation part case 81 .
  • the ratchet pawl 87 engages with the ratchet wheel 88 to restrict the rotation of the sandwiching portion 7 of the finger hook 84 in the opening direction and permit the rotation of the sandwiching portion 7 of the finger hook 84 in the closing direction.
  • the ratchet release button 89 is attached to the operation section case 82 via a pin 90 .
  • the ratchet release button 89 releases the engagement state between the ratchet pawl 87 and the ratchet wheel 88 when pressed. This allows the pinching portion 7 of the finger hook 84 to rotate in the opening direction.
  • the operating portion 8 can rotate, for example, 180 degrees with respect to the main body portion 2 (strictly speaking, about the axis of the main shaft 41).
  • the operating portion 8 and the main body portion 2 can be changed to the right-handed state.
  • the rotation angle from the left-handed state to the right-handed state may be a predetermined angle within a range of 160 to 200 degrees, for example.
  • FIG. 6 shows a top view, a side view, and a rear view thereof, in which (a) is the top view, (b) is the side view, and (c) is the rear view.
  • the operation dials 31 and 33 of the body portion 2 of the forceps device 1 are positioned on the positive side of the Y-axis of the body portion 2 .
  • the operation dial 33 is located within a reachable range of the left index finger in a state where the thumb of the left hand is inserted into the finger hook 84 and the middle finger of the left hand is inserted into the finger hook 83, and is arranged so as to be operable. Therefore, the user can bend and stretch the bending portion 6 by operating the operation dial 33 only with the left hand.
  • FIG. 7 is a perspective view of the forceps device in a right-handed state
  • FIG. 8 is a top view, a side view, and a rear view thereof, (a) being a top view, (b) being a side view, and (c). shows a rear view.
  • the forceps device 1 can be changed to the right-handed state shown in FIG. 7 by rotating the operating portion 8 by 180 degrees with respect to the main body portion 2 from the left-handed state.
  • FIG. 7 shows a state in which the operating portion 8 is oriented in the same direction for the forceps device 1 in the right-handed state, so that the body portion 2 is rotated 180 degrees in the case of the left-handed state. It has become.
  • the operation dials 31 and 33 of the main body 2 of the forceps device 1 are positioned on the negative side of the Y-axis of the main body 2 .
  • the operation dial 31 is arranged so that it can be operated within a reachable range of the right index finger when the thumb of the right hand is inserted into the finger hook 84 and the middle finger of the right hand is inserted into the finger hook 83. - ⁇ Therefore, the user can bend and stretch the bending portion 6 by operating the operation dial 31 with only the right hand.
  • FIG. 9 is a diagram showing a connection state between the main body and the operating section of the forceps device in the left-handed state.
  • (a) is a side view of the main body portion and the operation portion
  • (b) is a sectional view
  • (c) is a front view of the operation portion.
  • the rib 21a of the main body 2 is positioned on the positive side of the Z-axis as shown in FIG. As shown in (c), it is positioned on the minus side of the Y axis and the positions of both do not match, so the operation section 8 cannot be removed from the main body section 2 .
  • FIG. 10 is a diagram showing a state when the main body and the operation section of the forceps device are attached and detached.
  • (a) is a side view of the main body and the operation part of the forceps device when it is attached and detached
  • (b) is a cross-sectional view of the main body and the operation part of the forceps device taken along line BB.
  • (c) is a front view of the operating portion of the forceps device when attaching and detaching.
  • the rib 21a of the main body 2 and the slit 82a of the operating portion 8 are located on the minus side of the Y axis. be located at the same position. Therefore, the rib 21a of the main body 2 can be moved in the X-axis direction through the slit 82a, and the operation section 8 can be removed from the main body 2. As shown in FIG. When the operating portion 8 is attached to the main body portion 2, the ribs 21a of the main body portion 2 are operated through the slits 82a in the same positional relationship as immediately after the main body portion 2 and the operating portion 8 are removed. It may be introduced into the portion 8, and then the operation portion 8 and the main body portion 2 may be rotated relative to each other.
  • FIG. 11 is an enlarged view of the bent portion of the forceps device. 11, (a) is a front view of the bent portion 6 in a straight state, (b) is a cross-sectional view thereof, and (c) is perpendicular to the bent surface of the bent portion 6 in a straight state. (d) is a cross-sectional view of the bent portion 6 along line CC, and (e) is a side view of the bent portion 6 in the bent state. 12A and 12B are diagrams for explaining the configuration of the link parts of the bent portion and the method of connecting the link parts. In FIG.
  • the bending portion 6 includes a distal end link part 61, a plurality of link parts 62, and a proximal end link part 63, and these parts are connected in series.
  • the distal end link component 61 can be attached to the proximal end side of the clamping portion 7 on the distal end side so as to be relatively rotatable.
  • the configuration of the base end side of the tip link component 61 is the same as the configuration of the base end side of the link component 62 .
  • the tip link component 61 is formed with two recesses 61 a that engage with the engaging terminal 37 c of the operating wire 37 and the engaging terminal 38 c of the operating wire 38 .
  • the base end link component 63 has a shaft engaging portion 63a on the base end side, which is inserted into the tip end side of the main shaft 41 and engages so as to rotate integrally.
  • the configuration of the distal end side of the base end link component 63 is the same as the configuration of the distal end side of the link component 62 .
  • the link component 62 has an upper surface contact portion 62c having a surface perpendicular to the axial direction in the straight state on the distal end side, and an axial contact portion 62c on the proximal end side in the straight state. It has a straight contact portion 62a having a surface perpendicular to the direction, and a bent contact portion 62b having a surface inclined toward the tip side from the surface perpendicular to the axial direction in the straight state.
  • an operation wire hole 64 through which the operation wire 36 is inserted is formed in the central portion, and an operation wire hole 64 through which the operation wire 37 is inserted is formed on the straight contact portion 62a side.
  • a wire hole 66 is formed, and an operating wire hole 65 through which the operating wire 38 is inserted is formed on the bending contact portion 62b side.
  • the link component 62 includes an upper wall portion 62d, an upper wall portion 62h formed on the side opposite to the upper wall portion 62d with respect to the bending surface, and an upper wall portion 62h extending from the upper wall portion 62d to the bending surface.
  • An upper convex portion 62e (an example of a second convex portion) that protrudes outward on a line perpendicular to the upper wall portion 62h and an upper hole portion 62i that is formed on the same line as the direction in which the upper convex portion 62e protrudes.
  • a lower wall portion 62j positioned radially inward of the upper wall portion 62h, and a lower wall portion 62j formed on the opposite side of the curved surface to the lower wall portion 62j and positioned closer to the upper wall portion 62d than the upper wall portion 62d.
  • the bending surface is a plane that moves when the bending portion 6 bends. In FIG. 12, the bending surface is a surface perpendicular to the paper surface and extending in the vertical direction of the paper surface.
  • the link component 62 on the distal end side When connecting the link component 62 on the distal end side and the link component 62 on the proximal end side, the link component 62 on the distal end side (upper side in the figure) is simply moved to the left from the state shown in FIG. 12(a). As a result, the link component 62 on the distal end side and the link component 62 on the proximal end side are connected as shown in FIG. 12(c). In this case, as shown in FIG. 12(d), the lower convex portion 62k of the link component 62 on the distal end side is loosely fitted (rotatably fitted) into the upper hole portion 62i of the link component 62 on the proximal end side.
  • each link component can be easily connected.
  • the straight-time contact portion 62a of the link component 62 contacts with the upper surface contact portion 62c of the component 63).
  • the positions of the link component 62 and the base-side component are restricted by the lower convex portion 62k of the distal-side link component 62 and the upper convex-shaped portion 62e of the base-side component.
  • the bending contact portion 62b of the link component 62 is, as shown in FIG. It contacts with the contact portion 62c.
  • the positions of the link component 62 and the base-side component are restricted by the lower convex portion 62k of the distal-side link component 62 and the upper convex-shaped portion 62e of the base-side component.
  • FIG. 13A and 13B are diagrams for explaining the configuration and the operation related to the bending and stretching operation of the bending portion of the forceps device.
  • FIG. 13 shows the state of the forceps device in a straight state
  • (b) shows the state of the forceps device in a bent state.
  • FIG. 14 is a diagram for explaining in detail the configuration related to the bending and stretching operation of the bent portion of the forceps device, showing a state in which the upper parts of the worm wheel 24 are removed.
  • FIG. 14 shows the state of part of the forceps device in the straight state
  • (b) shows the state of part of the forceps device in the bent state.
  • an operating wire 37 is connected to the slide portion 27 as shown in FIG. 13(a).
  • the engaging terminal 37c at the tip of the operating wire 37 is arranged to be connected to the straight side of the tip of the bent portion 6 (the side on which the contact portion 62a exists when straight).
  • an operating wire 38 is connected to the slide portion 28 .
  • the engaging terminal 38c at the tip of the operating wire 38 is arranged to be connected to the bent side of the tip of the bent portion 6 (the side on which the bending contact portion 62b is present). When this operating wire 38 is pulled toward the proximal end, it acts to bring the bending portion 6 into a bending state.
  • the positions of the slide portions 27 and 28 on the X axis are substantially the same.
  • the length of the operating wire 38 from the sliding portion 28 to the engaging portion of the bending portion 6 is longer than the length of the operating wire 37 from the sliding portion 27 to the engaging portion of the bending portion 6, and the operating wire 37 is While being pulled toward the base end side, the operating wire 38 is in a loose state.
  • the straight side contact portion 24b of the worm wheel 24 is in contact with the main body case 21, as shown in FIG. 14(a).
  • the worm wheel 24 has, for example, a partially circular shape, and has two pin installation holes 24a at symmetrical positions with respect to the rotation axis on the minus side of the Y axis.
  • the worm wheel 24 is rotated clockwise (arrow R5) when straightened, and counterclockwise (arrow R6) when bent.
  • the worm wheel 24 has a straight side contact portion 24b that contacts the main body case 21 when the worm wheel 24 is rotated most clockwise. has a bending side contact portion 24c that contacts the mechanical end 39 (an example of a maximum amount adjusting portion) when it is rotated most counterclockwise.
  • the worm wheel 24 rotates in the counterclockwise direction (arrow R6) until the bending side contact portion 24c contacts the mechanical end 39.
  • the tension applied to the operating wire 38 for bending the bending portion 6 is maximized.
  • the tension applied to the operating wire 38 may not be appropriate when the worm wheel 24 is most rotated in the counterclockwise direction due to variations in the precision of the operating wire 38 during manufacture and changes over time due to use of the operating wire 38 . It can happen. Therefore, the mechanical end 39 of this embodiment can adjust the position of contact with the bending side contact portion 24c of the worm wheel 24. As shown in FIG.
  • FIG. 15 is a diagram explaining the mechanical end of the forceps device.
  • 15(a) is a perspective view of the mechanical end 39
  • FIG. 15(b) is a side view of the mechanical end
  • FIG. 15(c) is a cross-sectional view of the mechanical end 39 along line DD.
  • the mechanical end 39 has a cylindrical portion 39a, a cylindrical portion 39b, a contact portion 39c, and a contact portion fixing hole 39d.
  • the columnar portions 39 a and 39 b are portions that come into contact with the main body case 21 when the mechanical end 39 is rotatably installed in the main body case 21 .
  • the central axis (columnar portion center 39o) of the columnar portion 39a and the columnar portion 39b is coaxial.
  • the contact portion 39c is a portion that contacts the bending side contact portion 24c of the worm wheel 24, and as shown in FIG. , a contact surface 393 a distance D3 from the cylinder center 39o, and a contact surface 394 a distance D4 from the cylinder center 39o.
  • the surface that contacts the bending side contact portion 24c of the worm wheel 24 can be adjusted to any one of the contact surfaces 391 to 394 according to the installation state of the contact portion 39c with respect to the main body case 21. can adjust the position of contact with the bending side contact portion 24c of the worm wheel 24.
  • a contact surface with a long distance from the center 39o of the cylindrical portion may be selected.
  • a contact surface with a short distance from 39o should be selected.
  • the contact portion fixing hole 39d is provided with a screw (not shown) for fixing the contact surface selected to contact the bending side contact portion 24c of the worm wheel 24 to a position in contact with the bending side contact portion 24c of the worm wheel 24. is a hole for inserting
  • the surface of the mechanical end 39 that contacts the bending side contact portion 24c may be adjusted to any one of the contact surfaces 391-394.
  • an appropriate contact surface it can be fixed by inserting a screw (not shown) into the contact portion fixing hole 39d in that state.
  • the operating wires 36, 37, and 38 are made up of a plurality of members, but the present invention is not limited to this, and for example, they may be made up of the same members, such as wire ropes. can be
  • At least a part of the convex portion (upper convex portion 62e, lower convex portion 62k) and the hole portion (lower hole portion 62g, upper hole portion 62i) of the link component 62 is may be configured to act as a stopper that prevents the convex portion from coming out of the hole after it is inserted into the hole.
  • the diameter of a portion of the convex portion may be made larger than the diameter of the inner hole portion.
  • the worm wheel 24 is rotated to move the slide portions 27 and 28 in the axial direction, thereby pulling and pushing out the operating wires 37 and 38 to bring the bending portion 6 into a bent or straight state.
  • the present invention is not limited to this. You may make it a straight state.
  • the contact portion 39c of the mechanical end 39 has a plurality of planes with different distances from the center 39o of the cylindrical portion, but the present invention is not limited to this. It may also have a curved surface whose distance from is continuously changed.
  • the state shown in FIG. 1 is assumed to be for the left hand, and the state shown in FIG. 7 is assumed to be for the right hand.
  • the present invention is not limited to this, and the state shown in FIG. , the state shown in FIG. 7 may be the state for the left hand.
  • the end effectors 71 and 72 have the function of gripping the object, but the present invention is not limited to this, and may be an end effector having the function of cutting the object.
  • the present invention is not limited to the configuration of the above-described embodiment, but is indicated by the scope of the claims, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims. be done.
  • the "straight state" of the bent portion 6 may include not only a strictly straight state but also a "substantially straight” state that includes a certain range that does not impair the sameness of technical significance.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Ophthalmology & Optometry (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)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un dispositif de forceps qui peut être utilisé facilement et correctement avec l'une ou l'autre main. Ce dispositif de forceps comporte : un corps qui comprend une partie de serrage, une partie de flexion qui est reliée au côté d'extrémité de base de la partie de serrage et qui est capable d'adopter une configuration droite et une configuration fléchie, une partie d'arbre reliée au côté d'extrémité de base de la partie de flexion, et une partie d'actionnement de flexion capable d'opérer une flexion ; et une partie d'actionnement qui est capable de provoquer une opération de serrage par la partie de serrage et qui permet l'opération de serrage avec les doigts de la main d'un utilisateur. La partie d'actionnement peut être disposée de manière à présenter une première configuration prescrite et peut également présenter une deuxième configuration qui est obtenue par rotation de la première configuration autour de l'axe de la partie d'arbre vers le côté opposé. La partie d'actionnement de flexion est configurée pour comprendre : un premier cadran de commande destiné à opérer la flexion dans une plage utilisable avec les doigts d'une main dans le cas où elle se trouve dans la première configuration ; et un deuxième cadran de commande destiné à opérer la flexion dans une plage utilisable avec les doigts de la main pour actionner la partie d'actionnement.
PCT/JP2022/002914 2021-01-29 2022-01-26 Dispositif de forceps WO2022163713A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202280011730.4A CN116806135A (zh) 2021-01-29 2022-01-26 钳子装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-013791 2021-01-29
JP2021013791A JP2022117211A (ja) 2021-01-29 2021-01-29 鉗子装置

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WO2022163713A1 true WO2022163713A1 (fr) 2022-08-04

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JP (1) JP2022117211A (fr)
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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52158584U (fr) * 1976-05-27 1977-12-01
JPH01157702U (fr) * 1988-04-25 1989-10-31
JPH0255905U (fr) * 1988-10-14 1990-04-23
JPH07140398A (ja) * 1993-11-15 1995-06-02 Fuji Photo Optical Co Ltd 内視鏡の湾曲操作装置
JP2001161634A (ja) * 1999-12-06 2001-06-19 Fuji Photo Optical Co Ltd 内視鏡のアングル操作装置
JP2009240704A (ja) * 2008-03-31 2009-10-22 Hi-Lex Corporation 挿入部およびそれを用いた腹腔鏡手術用具
CN106551716A (zh) * 2016-10-24 2017-04-05 中国科学院深圳先进技术研究院 腔镜手术器械
JP2017079895A (ja) * 2015-10-26 2017-05-18 株式会社システック 指搭載手術具
JP2020515330A (ja) * 2017-03-30 2020-05-28 マイクロポート（シャンハイ）メドボット カンパニー，リミティッド 手術ロボット用ヘビ型ジョイント、手術器具及び内視鏡

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52158584U (fr) * 1976-05-27 1977-12-01
JPH01157702U (fr) * 1988-04-25 1989-10-31
JPH0255905U (fr) * 1988-10-14 1990-04-23
JPH07140398A (ja) * 1993-11-15 1995-06-02 Fuji Photo Optical Co Ltd 内視鏡の湾曲操作装置
JP2001161634A (ja) * 1999-12-06 2001-06-19 Fuji Photo Optical Co Ltd 内視鏡のアングル操作装置
JP2009240704A (ja) * 2008-03-31 2009-10-22 Hi-Lex Corporation 挿入部およびそれを用いた腹腔鏡手術用具
JP2017079895A (ja) * 2015-10-26 2017-05-18 株式会社システック 指搭載手術具
CN106551716A (zh) * 2016-10-24 2017-04-05 中国科学院深圳先进技术研究院 腔镜手术器械
JP2020515330A (ja) * 2017-03-30 2020-05-28 マイクロポート（シャンハイ）メドボット カンパニー，リミティッド 手術ロボット用ヘビ型ジョイント、手術器具及び内視鏡

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JP2022117211A (ja) 2022-08-10

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