WO2022181671A1 - 屈曲構造体及び通電デバイス - Google Patents
屈曲構造体及び通電デバイス Download PDFInfo
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- WO2022181671A1 WO2022181671A1 PCT/JP2022/007542 JP2022007542W WO2022181671A1 WO 2022181671 A1 WO2022181671 A1 WO 2022181671A1 JP 2022007542 W JP2022007542 W JP 2022007542W WO 2022181671 A1 WO2022181671 A1 WO 2022181671A1
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- Prior art keywords
- outer coil
- bending structure
- conductive
- path
- bending
- Prior art date
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- 238000005452 bending Methods 0.000 title claims abstract description 97
- 238000004804 winding Methods 0.000 claims abstract description 40
- 230000015572 biosynthetic process Effects 0.000 abstract 1
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- 238000007906 compression Methods 0.000 abstract 1
- 239000012636 effector Substances 0.000 description 16
- 230000006870 function Effects 0.000 description 10
- 239000004020 conductor Substances 0.000 description 9
- 239000011295 pitch Substances 0.000 description 9
- 239000012811 non-conductive material Substances 0.000 description 7
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- 230000008407 joint function Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
Definitions
- the present invention relates to bending structures and energization devices that realize joint functions of robots, manipulators, and the like.
- a bending structure that realizes joint functions such as robots, manipulators, or actuators may require a current-carrying function depending on the equipment to which it is applied.
- This bend is a bending structure applied to a medical manipulator and supports the end effector with respect to the shaft.
- a conducting wire is inserted through the axial center of the curved portion, and the conducting wire functions as a cable for mechanically driving the end effector and enables the end effector to be energized.
- the problem to be solved is that there is a limit to the reduction in diameter of the bending structure that requires an electrical function.
- the present invention is a bending portion having an inner coil portion and an outer coil portion that can be elastically bent and extended, and in which corresponding winding portions of the inner coil portion are fitted into gaps between adjacent winding portions of the outer coil portion. and at least one of the inner and outer coil portions is electrically conductive and constitutes an electric path.
- FIG. 1 is a perspective view showing a bending structure according to Example 1 of the present invention.
- FIG. 2 is a perspective cross-sectional view of a part of the bending structure shown in FIG. 3(A) and (B) are cross-sectional views showing the inner cylinder of the bending structure of FIG. 2, FIG. 3(A) being normal and FIG. 3(B) being bent.
- FIG. 4 is a perspective view showing an energization device to which a bending structure is applied according to Example 2 of the present invention.
- 5 is an enlarged perspective view showing the periphery of the end effector of the energization device of FIG. 4.
- FIG. FIG. 6 is a cross-sectional view taken along the cutting plane VI of FIG.
- the inner coil portion has an inner coil portion and an outer coil portion that can be elastically bent and stretched, and the inner coil portion has a gap between adjacent winding portions of the outer coil portion. This is achieved by constructing an energization path using the bent portion of the double coil into which the corresponding winding portions of the coil portion are fitted.
- the bending structure (1) has a bending portion (9) having an inner coil portion (13) and an outer coil portion (15).
- the inner and outer coil sections (13, 15) are elastically bendable and stretchable, and the inner coil section (13) corresponds to the gap (15b) between the adjacent winding sections (15a) of the outer coil section (15).
- the winding portion (13a) is fitted.
- At least one of the inner and outer coil portions (13, 15) has electrical conductivity and constitutes an energization path (P1).
- One or both of the inner and outer coil portions (13, 15) may be conductive and form the current path (P1). Further, when both the inner and outer coil portions (13, 15) are conductive, the inner and outer coil portions (13, 15) are insulated so that the electric current path ( P1) may be configured.
- one of the inner and outer coil portions (13, 15) constitutes the current path (P1).
- the other of the inner and outer coil portions (13, 15) may constitute another current path.
- the bending structure (1) includes a conductive end member (7) connected to at least one end of the inner and outer coil portions (13, 15) that constitute the current path (P1), and the end member ( 7) may constitute an energization path (P1) together with at least one of the inner and outer coil portions (13, 15).
- a conductive flexible member (11) may be provided inside the inner coil portion (13).
- the flexible member (11) may be insulated from at least one of the inner and outer coil portions (13, 15) forming the current path (P1) to form another current path (P2).
- At least one of the inner and outer coil portions (13, 15) forming the current path (P1) means, when one of the inner and outer coil portions (13, 15) has conductivity, the inner and outer coil portions having the conductivity. It means one of the coil parts (13, 15).
- both the inner and outer coil portions (13, 15) are conductive, at least one of the inner and outer coil portions (13, 15) constituting the current path (P1) is constitutes the energization path (P1), both the inner and outer coil portions (13, 15) are insulated between the inner and outer coil portions (13, 15) and one of the inner and outer coil portions (13, 15) Only one of the inner and outer coil portions (13, 15) is meant when only one of the coil portions (13, 15) constitutes the energization path (P1) (the same shall apply hereinafter).
- a conductive cord-like member (21) may be provided outside the outer coil portion (15).
- the cord-like member (21) may be insulated from at least one of the inner and outer coil portions (13, 15) forming the current-carrying path (P1) to form another current-carrying path (P2).
- An energization device (25) using such a bending structure (1) is a conductive electrode member connected to an energization path (P1) constituted by at least one of the conductive inner and outer coil portions (13, 15). (31a, 31b).
- the conducting device (25) comprises a first conductive electrode member (31a) connected to one of the conducting paths (P1, P2) and a second conducting electrode member (31a) connected to the other of the conducting paths (P1, P2).
- An electrode member (31b) and an insulating member (33) provided between the first electrode member (31a) and the second electrode member (31b) may be provided.
- the first electrode member (31a) and the second electrode member (31b) may be forceps members that perform a holding operation.
- FIG. 1 is a perspective view showing a bending structure according to Example 1 of the present invention.
- FIG. 2 is a perspective cross-sectional view of a part of the bending structure.
- 3(A) and (B) are cross-sectional views showing the inner cylinder of the bending structure, FIG. 3(A) being normal and FIG. 3(B) being bent.
- the bending structure 1 is applied to a joint function part that requires an energizing function of various devices such as manipulators, robots, and actuators for medical and industrial purposes.
- a joint function part is an apparatus, a mechanism, a device, or the like that functions as a joint that bends and extends.
- This bending structure 1 is elastically bendable and stretchable, and has an electrical path P1 extending from one axial end to the other axial end.
- the axial direction means a direction along the axis of the bending structure 1, and includes a direction parallel to the axis as well as a slightly inclined direction.
- the bending structure 1 of this embodiment includes a base portion 5 and a movable portion 7 as end members, a bending portion 9 and a flexible member 11 .
- the base 5 is a columnar body made of metal, resin, or the like, for example, a columnar body. This base 5 is attached to the end of the shaft of the manipulator or the like. Note that the base 5 is not limited to a columnar body, and may be formed in an appropriate form according to the equipment to which the bending structure 1 is applied.
- the movable part 7, like the base part 5, consists of a columnar body, for example, a columnar body.
- An end effector or the like corresponding to the equipment to which the bending structure 1 is applied is attached to the movable portion 7 .
- the movable part 7 of this embodiment has conductivity.
- the conductive movable part 7 may be made of a material such as metal, conductive resin, or the like, which itself has conductivity, or a non-conductive material, such as a resin, coated with a conductive coating. It is possible.
- the movable portion 7 may be configured to have no conductivity. Also, the movable part 7 has an appropriate shape according to the equipment to which the bending structure 1 is applied, and is not limited to a columnar body.
- the movable portion 7 is supported by the base portion 5 by the bending portion 9 so as to be displaceable in the axial direction.
- the bending portion 9 is composed of an inner cylinder 9a and an outer cylinder 9b arranged along the axial direction of the bending structure 1.
- the inner cylinder 9 a is a double coil that can be elastically bent and extended in the axial direction, and is composed of an inner coil portion 13 and an outer coil portion 15 . Therefore, when the bent portion 9 (the inner cylinder 9a) is bent, the gap between the outer coil portions 15 becomes smaller on the inside of the bend, and the gap between the outer coil portions 15 becomes larger on the outside of the bend. As a result, the length of the inner cylinder 9a at the axial center of the outer coil portion 15 does not change compared to when it is straight. Therefore, when the inner cylinder 9a is used to guide the flexible member 11 so as to be movable in the axial direction, the amount of movement of the flexible member 11 can be reliably kept constant.
- the inner and outer coil portions 13 and 15 are coil springs each having elasticity capable of bending in the axial direction. At least one of the inner and outer coil portions 13 and 15 has electrical conductivity, and constitutes an energization path P1.
- both the inner and outer coil portions 13 and 15 are conductive, and constitute the energization path P1.
- the energization path P1 is for a device such as an end effector that requires energization.
- both the inner and outer coil portions 13 and 15 are conductive, the inner and outer coil portions 13 and 15 are insulated, and one of the inner and outer coil portions 13 and 15 constitutes the current path P1.
- the other of 15 may constitute another current-carrying path. Insulation between the inner and outer coil portions 13 and 15 can be performed by providing an insulating coating on either one of the inner and outer coil portions 13 and 15 .
- the current-carrying path P1 uses the inner and outer coil portions 13 and 15 of the bending portion 9 having bendable elasticity, even if the bending portion 9 of the bending structure 1 repeatedly bends and stretches, the current-carrying path P1 remains like a conducting wire. No risk of damage.
- the inner and outer coil portions 13 and 15 of this embodiment pass through the base portion 5 in the axial direction, and their tip portions are fitted into the concave portion 7a of the movable portion 7. As shown in FIG. For fitting into the recess 7a, the ends of the inner and outer coil portions 13 and 15 are abutted into the recess 7a in the axial direction, and the outer circumference of the outer coil portion 15 abuts the inner circumference of the recess 7a in the radial direction. It is done by
- the movable section 7 is electrically connected to the inner and outer coil sections 13 and 15, and together with the inner and outer coil sections 13 and 15, constitutes the current path P1.
- This current path P1 extends from one axial end of the bending structure 1 to the other axial end.
- a conductor may be provided that axially penetrates the movable portion 7, and the conductor may be connected to at least one of the conductive inner and outer coil portions 13 and 15. .
- the conductive inner and outer coil parts 13 and 15 may be made of the same conductive material as the movable part 7 . If one of the inner and outer coil portions 13 and 15 does not have electrical conductivity, one of the inner and outer coil portions 13 and 15 may be made of a non-conductive material such as resin.
- the cross-sectional shape of the strands of the inner and outer coil portions 13 and 15 is circular with the same wire diameter, but can also be semicircular, elliptical, or the like.
- the cross-sectional shape, wire diameter, etc. of the inner and outer coil portions 13 and 15 may be different from each other.
- the inner coil portion 13 has a smaller center diameter than the outer coil portion 15 and is screwed into the outer coil portion 15 .
- the central diameters of the inner and outer coil portions 13 and 15 are constant from one axial end to the other axial end. However, the center diameter of the outer coil portion 15 can also be changed in the axial direction.
- the outer coil portion 15 has pitches 15b, which are a plurality of gaps between axially adjacent winding portions 15a (adjacent winding portions 15a). Corresponding winding portions 13a of the inner coil portion 13 are fitted into the plurality of pitches 15b from the inside. Due to this fitting, the winding portion 13a of the inner coil portion 13 contacts both the winding portions 15a of the adjacent outer coil portion 15. As shown in FIG.
- the inner coil portion 13 has pitches 13b as a plurality of gaps between axially adjacent winding portions 13a (between adjacent winding portions 13a).
- Corresponding winding portions 15a of the outer coil portion 15 are fitted into the plurality of pitches 13b from the outside. Due to this fitting, the winding portion 15a of the outer coil portion 15 contacts both winding portions 13a of the adjacent inner coil portion 13. As shown in FIG.
- the inner cylinder 9a is restricted from compressing in the axial direction, stabilizes the current path P1 between the inner and outer coil portions 13 and 15, and reduces the contact resistance.
- the outer cylinder 9b is a cylindrical body arranged concentrically with the inner cylinder 9a and covering the outer circumference of the inner cylinder 9a.
- the outer cylinder 9b of this embodiment is constructed by laminating a plurality of wave washers 17 in the axial direction. Axially adjacent wave washers 17 are joined together.
- the outer cylinder 9b can be bent by elastic deformation of the wave washer 17. As shown in FIG.
- Each wave washer 17 is formed in a closed ring from a conductive or non-conductive material. Between the wave washers 17 adjacent in the axial direction, the peaks 17a of one wave washer 17 contact the valleys 17b of the other wave washer 17, and the contacting peaks 17a and valleys 17b are welded or bonded. are joined by any suitable means.
- a plurality of flat washers 19 having a deformation amount smaller than that of the wave washers 17 are attached to both ends of the outer cylinder 9b in the axial direction.
- the base portion 5 and the movable portion 7 are connected to both ends of the outer cylinder 9b via the flat washers 19. As shown in FIG. This connection is made by suitable means such as welding. Note that the flat washer 19 can be omitted.
- the outer cylinder 9b is provided with insertion holes 17c and 19a communicating axially between the crests 17a and the troughs 17b of each wave washer 17 and the flat washer 19 corresponding thereto.
- the insertion holes 17c and 19a of this embodiment are provided at intervals of 90 degrees in the circumferential direction.
- the number of insertion holes 17c and 19a can be changed in the circumferential direction such as every 60 degrees, every 120 degrees, every 180 degrees.
- the drive wire 21 is axially inserted through the insertion holes 17c and 19a.
- the outer cylinder 9b functions as a guide that holds the drive wire 21 at a predetermined position outside the outer coil portion 15 of the inner cylinder 9a.
- the outer cylinder 9b is not limited to lamination of the wave washers 17, and can be configured by other flexible members.
- the outer cylinder 9b can be composed of a bellows made of a tubular body having a corrugated cross section or a double coil similar to the inner cylinder 9a.
- the drive wire 21 is a cord-like member along the axial direction of the bending structure 1.
- the cord-like member is not limited to wires, but may be twisted wires, single wires, piano wires, articulated rods, chains, cords, threads, ropes, or the like.
- the cross-sectional shape of the drive wire 21 may be circular like the insertion holes 17c and 19a of the outer cylinder 9b, or may be oval or rectangular.
- the drive wire 21 can be made of a conductive or non-conductive material. In any case, the drive wire 21 has a degree of flexibility that does not hinder bending and extension of the bending structure 1 .
- the drive wire 21 is made of a conductive material, if the drive wire 21 is insulated from the conductive inner and outer coil portions 13 and 15, the drive wire 21 can form another conduction path P2. be.
- the insulation of the drive wire 21 from the inner and outer coil portions 13 and 15 can be achieved, for example, by coating the drive wire 21 itself with an insulator, or by forming the movable portion 7 from a non-conductive material and by insulating the outer coil portion 15 of the inner cylinder 9a. It can be realized by covering the outside with an insulator or by making the outer coil portion 15 of a non-conductive material.
- the tip of the drive wire 21 is positioned in a connection hole 7b provided in the movable portion 7, and is prevented from coming off by engaging the movable portion 7 by end processing or the like.
- a proximal end portion of the drive wire 21 is directly or indirectly connected to an operation mechanism (not shown).
- the drive wire 21 can drive the movable portion 7 with respect to the base portion 5 by being operated in the axial direction. Specifically, by pulling the drive wire 21 in the axial direction, the movable portion 7 is driven to bend the bending structure 1 .
- the number of drive wires 21 can be appropriately set according to the required bending motion of the bending structure 1 .
- the flexible member 11 is a drive member made of a push-pull cable or an air tube according to the equipment to which the bending structure 1 is applied, or other flexible elongated members.
- the flexible member 11 is a push-pull cable.
- the flexible member 11 is provided inside the inner coil portion 13 of the inner cylinder 9a.
- the flexible member 11 can be made of a conductive or non-conductive material, and is flexible enough not to hinder bending and extension of the bending structure 1 .
- the flexible member 11 When the flexible member 11 is made of a conductive material, the flexible member 11 can be insulated from the conductive inner and outer coil portions 13 and 15 to form another current-carrying path P2.
- the current-carrying path P2 may be configured alternatively by either the flexible member 11 or the drive wire 21. Moreover, both the flexible member 11 and the driving wire 21 may be used as the current-carrying paths, and three or more current-carrying paths may be provided. Also, the current-carrying path P ⁇ b>2 may be configured by members other than the flexible member 11 and the drive wire 21 . Furthermore, for example, in the case of an end effector or the like that requires monopolar energization, the energization path P2 can be omitted.
- Insulation of the flexible member 11 with respect to the inner and outer coil portions 13 and 15 is performed by the flexible tube 23 .
- the flexible tube 23 is a cylindrical member made of insulating resin or the like, and is flexible enough not to hinder bending and extension of the bending structure 1 .
- the flexible tube 23 is inserted through the inner coil portion 13 of the inner cylinder 9 a and is interposed between the inner coil portion 13 and the flexible member 11 .
- the insulation of the flexible member 11 from the inner and outer coil portions 13 and 15 may be performed by using an insulating material for the inner coil portion 13 . Also, depending on the device, either one or both of the flexible member 11 and the flexible tube 23 may be omitted.
- the bending structure 1 of the present embodiment has an inner coil portion between the adjacent winding portions 15a of the outer coil portion 15 of the inner cylinder 9a when it is not bent (at the time of extension).
- the corresponding turns 13a of 13 are fitted.
- the energization path P1 is formed in the winding direction and the axial direction of the inner and outer coil portions 13 and 15 by contacting the winding portion 15a of the outer coil portion 15 and the winding portion 13a of the inner coil portion 13 adjacent to the inner cylinder 9a. It is formed.
- the formed current-carrying path P1 is stable without excessive deformation or the like according to the posture of the bending structure 1.
- the contact pressure between the winding portion 15a of the outer coil portion 15 and the winding portion 13a of the inner coil portion 13 the contact resistance of the energization path P1 is reduced and the current supply path P1 is electrically stabilized.
- the operator can pull any one or a plurality of drive wires 21 to orient the end effector or the like of the device to which the bending structure 1 is applied in a desired direction.
- the pitch 15b between the adjacent winding portions 15a of the outer coil portion 15 of the inner cylinder 9a becomes smaller on the inside of the bend, The pitch 15b between the adjacent winding portions 15a of the outer coil portion 15 of 9a is increased.
- the length of the central portion of the inner cylinder 9a does not change, that is, the length of the outer coil portion 15 at the axial center does not change compared to when it is straight, and the posture of the bending structure 1 is stabilized.
- the corresponding winding portions 13a of the inner coil portion 13 continue to fit between the adjacent winding portions 15a of the outer coil portion 15 of the inner cylinder 9a.
- the bending structure 1 is restrained from being compressed in the axial direction, and can be restrained from fluctuating in the length of the central portion.
- the bending structure 1 of this embodiment has the inner coil portion 13 and the outer coil portion 15 that can be elastically bent and extended, and the gap between the adjacent winding portions 15a of the outer coil portion 15 At least one of the inner and outer coil portions 13 and 15 is conductive and constitutes the current path P1.
- the energization path P1 can be stably configured by the bent portion 9 without providing a separate conducting wire or the like, and the diameter can be reduced.
- the bending structure 1 can be simplified in structure.
- the current path P1 in at least one of the inner and outer coil portions 13 and 15 of the bending portion 9, damage to the current path P1 due to repeated bending and extension is suppressed compared to the case of using a separate conducting wire or the like. can.
- the bending portion 9 is suppressed from being compressed before, during and after bending, and is free from excessive deformation and the like, so that the current-carrying path P1 can be stably configured.
- both the inner and outer coil portions 13 and 15 are conductive and constitute the energization path P1.
- the energization path P1 is formed not only in the winding direction of the inner and outer coil portions 13 and 15 but also in the axial direction. can be formed.
- This conducting path P1 can be electrically stabilized according to the contact pressure between the winding portion 15a of the outer coil portion 15 and the winding portion 13a of the inner coil portion 13. As shown in FIG.
- the bending structure 1 includes a movable portion 7 which is a conductive end member connected to one end of the conductive inner and outer coil portions 13 and 15 . , and 15 constitute an energization path P1.
- the movable portion 7 can be used as a terminal or an electrode of the bending structure 1 for an end effector or the like, and the structure can be simplified.
- a conductive flexible member 11 is provided inside the inner coil portion 13, and if the flexible member 11 is insulated from the inner and outer coil portions 13 and 15 that constitute the current path P1, another current path P2 is established. can be configured.
- the conducting path P2 using the flexible member 11 such as a push-pull cable.
- the other current path P2 can be formed inside the inner coil portion 13, which is less affected by bending.
- the energization path P2 is provided separately from the energization path P1 comprising at least one of the inner and outer coil portions 13 and 15, there is no need for a conventional branch.
- the current path P2 may be configured as a single current path P2, the thickness inside the inner coil portion 13 does not become thicker than necessary, and an increase in the bending radius can be suppressed.
- the driving wire 21, which is a conductive cord-like member, is provided outside the outer coil portion 15. If the driving wire 21 is insulated from the inner and outer coil portions 13 and 15 constituting the current path P1, Another energization path P2 can be configured.
- the driving wire 21 can be used to form another energization path P2, and conventional branching is not required.
- the drive wire 21 is significantly thinner than a push-pull cable or the like, it is possible to more reliably prevent the bending radius from becoming large.
- FIG. 4 is a perspective view showing an energization device to which a bending structure is applied, according to Embodiment 2 of the present invention.
- 5 is an enlarged perspective view showing the periphery of the end effector of the energization device
- FIG. 6 is a cross-sectional view taken along cutting plane VI in FIG.
- Example 2 the same code
- the energization device 25 is configured by applying the bending structure 1 of the first embodiment.
- the energizing device 25 is a medical manipulator, but is not limited to this.
- the energization device 25 supports the end effector 29 with respect to the shaft 27 by the bending structure 1 .
- the shaft 27 is made of metal or the like and is formed in a hollow tubular shape, for example, a cylindrical shape.
- a bending structure 1 is attached to the tip of the shaft 27 .
- This shaft 27 functions as a base that supports the bending structure 1 .
- an appropriate member may be used instead of the shaft 27 depending on the equipment to which the bending structure 1 is applied.
- the end effector 29 is a bipolar forceps in this embodiment.
- the end effector 29 is not limited to forceps, and may be bipolar scissors, an electric scalpel, or the like. Note that the end effector 29 may be a monopolar electric scalpel or the like.
- the end effector 29 includes forceps members 31 a and 31 b as first electrode portions and second electrode members, and an insulating member 33 .
- the forceps members 31a and 31b perform a holding operation by opening and closing. These forceps members 31a and 31b are made of a conductive material and are connected to current-carrying paths P1 and P2, respectively. Contrary to the above, the connection destinations of the forceps members 31a and 31b may be the energization paths P2 and P1, respectively. It should be noted that the current-carrying path P ⁇ b>2 of this embodiment is constituted by the flexible member 11 .
- One forceps member 31a is supported at its proximal end by the movable portion 7 of the bending structure 1, and is connected to the current-carrying path P1. This forceps member 31a is fixed and used.
- the other forceps member 31b is coupled to the distal end of the flexible member 11 and connected to the current-carrying path P2.
- the forceps member 31b is rotatably supported by the insulating member 33 with respect to the proximal end portion of the forceps member 31a, and the forceps member 31a is clamped by the forward and backward movement of the flexible member 11. As shown in FIG.
- the insulating member 33 is a columnar body made of an insulating material and having a fan-shaped cross section.
- the insulating member 33 is attached to the proximal end of the forceps member 31a.
- the interior of the insulating member 33 is hollow, and accommodates the distal ends of the flexible member 11 and the flexible tube 23 .
- the distal end of the flexible member 11 is coupled to the forceps member 31b within the insulating member 33. As shown in FIG.
- the structure of the bipolar energization device 25 can be simplified.
- the energization device 25 when the energization device 25 is of a monopolar type, it can be dealt with only with the energization path P1, and the structure can be simplified without the energization path P2.
- Example 2 the same effects as in Example 1 can be achieved.
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Abstract
Description
図1は、本発明の実施例1に係る屈曲構造体を示す斜視図である。図2は、屈曲構造体の一部を断面にした斜視断面図である。図3(A)及び(B)は、屈曲構造体の内筒を示す断面図であり、図3(A)は平常時、図3(B)は屈曲時である。
本実施例の屈曲構造体1は、図3(A)のように、屈曲していない直状時(伸展時)において、内筒9aの外コイル部15の隣接巻部15a間に内コイル部13の対応する巻部13aが嵌合している。
以上説明したように、本実施例の屈曲構造体1は、弾性的に屈曲及び伸展が可能な内コイル部13及び外コイル部15を有し、外コイル部15の隣接巻部15a間の隙間に内コイル部13の対応する巻部13aが嵌合した屈曲部9を備え、内外コイル部13及び15の少なくとも一方が、導電性を有し通電経路P1を構成する。
9 屈曲部
11 可撓部材
13 内コイル部
13a 巻部
13b ピッチ(隙間)
15 外コイル部
15a 巻部
15b ピッチ(隙間)
21 駆動ワイヤー(索状部材)
P1,P2 通電経路
25 通電デバイス
31a、31b 鉗子部材(電極部材)
33 絶縁部材
Claims (9)
- 弾性的に屈曲及び伸展が可能な内コイル部及び外コイル部を有し前記外コイル部の隣接巻部間の隙間に前記内コイル部の対応する巻部が嵌合した屈曲部を備え、
前記内外コイル部の少なくとも一方が、導電性を有し通電経路を構成する、
屈曲構造体。 - 請求項1記載の屈曲構造体であって、
前記通電経路を構成する内外コイル部の少なくとも一方の端部に接続された導電性の端部部材を備え、
前記端部部材は、前記内外コイル部の少なくとも一方と共に前記通電経路を構成する、
屈曲構造体。 - 請求項1又は2記載の屈曲構造体であって、
前記内コイル部の内側に、導電性の可撓部材を備え、
前記可撓部材が、前記通電経路を構成する内外コイル部の少なくとも一方に対して絶縁されて他の通電経路を構成する、
屈曲構造体。 - 請求項1又は2記載の屈曲構造体であって、
前記外コイル部の外側に、導電性の索状部材を備え、
前記索状部材は、前記通電経路を構成する内外コイル部の少なくとも一方に対して絶縁されて他の通電経路を構成する、
屈曲構造体。 - 請求項1~4の何れか一項に記載の屈曲構造体であって、
前記内外コイル部の双方が、導電性を有し前記通電経路を構成する、
屈曲構造体。 - 請求項1又は2記載の屈曲構造体であって、
前記内外コイル部の双方が導電性を有し、
前記内外コイル部間が絶縁されて、前記内外コイル部の一方により前記通電経路を構成し、前記内外コイル部の他方により他の通電経路を構成する、
屈曲構造体。 - 請求項1~6の何れか一項に記載の屈曲構造体を用いた通電デバイスであって、
前記導電性を有する内外コイル部の少なくとも一方で構成された前記通電経路に接続された導電性の電極部材を有する、
通電デバイス。 - 請求項4又は5記載の屈曲構造体を用いた通電デバイスであって、
前記通電経路の一方に接続された導電性の第1電極部材と、
前記通電経路の他方に接続された導電性の第2電極部材と、
前記第1電極部材及び第2電極部材間に設けられた絶縁部材とを備えた、
通電デバイス。 - 請求項8記載の通電デバイスであって、
前記第1電極部材及び第2電極部材は、狭持動作を行う鉗子部材である、
通電デバイス。
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US18/275,805 US20240116195A1 (en) | 2021-02-25 | 2022-02-24 | Bending structure and conductive device |
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EP2777561A1 (en) * | 2013-03-14 | 2014-09-17 | Karl Storz GmbH & Co. KG | Medical manipulator |
JP2017080142A (ja) * | 2015-10-29 | 2017-05-18 | 株式会社カネカ | 内視鏡用高周波処置具 |
JP2020026019A (ja) * | 2018-08-14 | 2020-02-20 | 日本発條株式会社 | 手術支援ロボット用インスツルメント |
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EP0397489B1 (en) * | 1989-05-12 | 1995-07-12 | Kabushiki Kaisha Machida Seisakusho | Bending device and flexible tube structure |
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EP2777561A1 (en) * | 2013-03-14 | 2014-09-17 | Karl Storz GmbH & Co. KG | Medical manipulator |
JP2014176483A (ja) | 2013-03-14 | 2014-09-25 | Karl Stortz Gmbh & Co Kg | 医療用マニピュレータ |
JP2017080142A (ja) * | 2015-10-29 | 2017-05-18 | 株式会社カネカ | 内視鏡用高周波処置具 |
JP2020026019A (ja) * | 2018-08-14 | 2020-02-20 | 日本発條株式会社 | 手術支援ロボット用インスツルメント |
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