WO2023181200A1 - Cover and forceps device - Google Patents

Cover and forceps device Download PDF

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Publication number
WO2023181200A1
WO2023181200A1 PCT/JP2022/013609 JP2022013609W WO2023181200A1 WO 2023181200 A1 WO2023181200 A1 WO 2023181200A1 JP 2022013609 W JP2022013609 W JP 2022013609W WO 2023181200 A1 WO2023181200 A1 WO 2023181200A1
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WO
WIPO (PCT)
Prior art keywords
cover
covering
forceps device
trocar
joint cover
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PCT/JP2022/013609
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French (fr)
Japanese (ja)
Inventor
好紀 後谷
Original Assignee
リバーフィールド株式会社
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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 JP2023550700A priority Critical patent/JPWO2023181200A1/ja
Priority to PCT/JP2022/013609 priority patent/WO2023181200A1/en
Publication of WO2023181200A1 publication Critical patent/WO2023181200A1/en

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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
    • 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

Definitions

  • the present invention relates to a cover for a forceps device.
  • Patent Document 1 discloses a cover for a surgical instrument, which is a cylindrical member that covers at least the periphery of the base of the surgical instrument.
  • the above-mentioned surgical instrument cover is made of a flexible material such as rubber that can be used in endoscopic surgery. Therefore, when inserting and removing the surgical instrument through the trocar, the cover may get caught on the end of the trocar, and in some cases, the cover may come off from the surgical instrument.
  • the present invention has been made in view of these circumstances, and one of its illustrative purposes is to provide a new technique that makes it difficult for the cover to come off from a surgical instrument such as a forceps device.
  • a cover according to an aspect of the present invention is a cylindrical cover that is attached to a forceps device having a treatment section for treating a target, the first cover covering the distal end section including the treatment section. and a second covering part that covers the rear end side from the distal end part.
  • the second covering part is configured to have a lower sliding friction with the trocar when the forceps device is caught on the trocar when the forceps device is inserted or removed.
  • the second covering part which is closer to the base of the forceps device than the first covering part, is more likely to be turned over than the first covering part if it gets caught in the trocar.
  • the second covering part since the second covering part has a structure that has lower sliding friction with the trocar than the first covering part, the second covering part of the cover contacts the trocar when inserting and removing the forceps device. Even if there is contact, the force received from the trocar can be suppressed, making it difficult for the cover to come off from the forceps device.
  • the configuration with low sliding friction includes materials and surface conditions with so-called low dynamic friction coefficients and low static friction coefficients.
  • the second covering portion may be a region where a coating material is applied to a part of the cover surface. Thereby, the sliding friction of a desired area on the cover surface can be easily lowered.
  • the coating material may contain a fluorine-based coating material or a DLC (Diamond-Like Carbon) coating material. Thereby, the sliding friction of the second covering portion can be reduced.
  • a fluorine-based coating material or a DLC (Diamond-Like Carbon) coating material.
  • the second covering portion may have a surface roughness Ra of 6.3 ⁇ m or less.
  • the second covering portion may contain at least one selected from the group consisting of polyurethane, silicone rubber, ethylene rubber, fluororubber, nitrile rubber, natural rubber, butyl rubber, and ceramic urethane.
  • This forceps device includes a distal end having a treatment section for treating a target, a columnar component connected to the distal end, a pipe connected to a side of the columnar component opposite to the side connected to the distal end, and a distal end. and a cover that is attached from the columnar part to the columnar part.
  • the force received from the trocar can be suppressed, so it is possible to realize a forceps device in which the cover does not easily come off.
  • the distal end portion may have a joint portion for operating the treatment section.
  • the joint portion is not covered with the second covering portion.
  • the second covering section does not directly affect the motion resistance of the treatment section centered on the joint, so it becomes easier to adjust the characteristics of the second covering section regarding sliding friction.
  • the cover becomes difficult to come off from the forceps device.
  • FIG. 2 is a front view of the forceps device according to the present embodiment.
  • FIGS. 2(a) to 2(b) are schematic diagrams for explaining how the joint cover comes off from the base cap.
  • FIG. 2 is a perspective view of a cover according to the present embodiment.
  • FIG. 4 is a longitudinal cross-sectional view showing a main part of the cover shown in FIG. 3;
  • FIG. 6 is an enlarged view of the vicinity of a second covering portion in the forceps device according to the present embodiment.
  • FIG. 7 is a longitudinal cross-sectional view showing essential parts of a cover according to a first modified example of the present embodiment. It is a longitudinal cross-sectional view showing the main part of the cover concerning the 2nd modification of this embodiment.
  • FIG. 1 is a front view of a forceps device according to this embodiment.
  • a medical forceps device 10 shown in FIG. 1 includes a pair of gripping parts 12a and 12b, a support body 14 that holds the pair of gripping parts 12a and 12b, and a first rotating shaft that rotatably supports the support body 14.
  • a base component 18 that holds the first rotating shaft
  • four guide pulleys (not shown) arranged coaxially with the first rotating shaft 16, and coaxially with the pair of gripping parts 12a and 12b.
  • the main wire 24 is provided.
  • the base component 18 is connected to the tip side of a base cap 26, which is a columnar component.
  • the rear end side of the base cap 26 is connected to a pipe 28.
  • the forceps device 10 according to the present embodiment is covered with a cylindrical joint cover 30 from the support body 14 to the rear end of the base cap 26. This makes it difficult for foreign objects to enter gaps between parts such as wires and pulleys during surgery. Further, in the case of a forceps device of the type that applies electricity to the gripping portions 12a and 12b to stop bleeding in the patient's tissue, a joint cover 30 having insulating properties is used.
  • the base cap 26 is a cylindrical (column-shaped) resin component made of engineering plastic or the like. This makes it possible to achieve both component strength and insulation. Specifically, materials such as PEEK (polyetheretherketone) and PEI (polyetherimide) are used, but are not limited to these.
  • the material used for the pipe 28 is, for example, CFRP (carbon fiber reinforced plastic) or GFRP (glass fiber reinforced plastic).
  • CFRP carbon fiber reinforced plastic
  • GFRP glass fiber reinforced plastic
  • the joint cover 30 is preferably made of a material with high insulation properties and excellent flexibility, such as butyl rubber or silicone rubber.
  • the forceps device 10 includes a distal end portion 31 having gripping portions 12a and 12b as a treatment section for treating a surgical object, a base cap 26 connected to the distal end portion 31, and a base cap 26 connected to the distal end portion 31. It includes a pipe 28 connected to the side of the cap 26 opposite to the side connected to the tip 31, and a joint cover 30 attached from the tip 31 to the base cap 26.
  • FIGS. 2(a) to 2(b) are schematic diagrams for explaining how the joint cover comes off from the base cap.
  • the forceps device 10 is inserted into a patient's body via a trocar 32 during laparoscopic surgery.
  • the inserted forceps device 10 may tilt or slide inside the patient's body. Therefore, a portion of the joint cover 30 (FIG. 2(a)) caught on the end 32a of the trocar 32 lifts up from the recess 26a of the base cap 26 when the forceps device 10 moves in the direction to remove it from the trocar 32 (FIG. 2(a)). 2(b)). Therefore, the contact area between the joint cover 30 and the recess 26a of the base cap 26 is reduced, and the friction is reduced, making it easier for the joint cover 30 to come off.
  • the forceps device 10 employs a configuration in which sliding friction between the joint cover 30 and the trocar 32 is low when the end portion 32a of the trocar 32 is caught on the joint cover 30.
  • FIG. 3 is a perspective view of the cover according to this embodiment.
  • FIG. 4 is a longitudinal cross-sectional view showing essential parts of the cover shown in FIG. 3.
  • FIG. The joint cover 30 according to the present embodiment is a cylindrical cover that is attached to a forceps device having gripping parts 12a and 12b for treating a target.
  • the joint cover 30 has a first covering part 30a that covers the distal end part 31, and a second covering part 30b that covers the rear end side of the distal end part 31.
  • the second covering part 30b is configured to have a lower sliding friction with the trocar 32 when the forceps apparatus 10 is caught on the trocar 32 when the forceps device 10 is inserted or removed, compared to the first covering part 30a.
  • the configuration with low sliding friction includes materials and surface conditions with so-called low dynamic friction coefficients and low static friction coefficients.
  • the second covering part 30b which is located closer to the root of the forceps device 10 (pipe 28 side) than the first covering part 30a, is more likely to be turned over than the first covering part 30a when caught by the trocar 32. Therefore, the second covering part 30b according to the present embodiment is configured to have lower sliding friction with the trocar 32 than the first covering part 30a.
  • the first covering part 30a is made of butyl rubber with a relatively large surface roughness Ra
  • the second covering part 30b is made of butyl rubber with a relatively small surface roughness Ra.
  • the second coating portion 30b has a surface roughness Ra of 6.3 ⁇ m or less.
  • the first covering portion 30a has a surface roughness Ra of 6.3 ⁇ m or less.
  • the second covering portion 30b may contain at least one selected from the group consisting of polyurethane, silicone rubber, ethylene rubber, fluororubber, nitrile rubber, natural rubber, and ceramic urethane. good.
  • the second covering portion 30b has a lower sliding friction than the first covering portion 30a that covers the tip portion 31 including the gripping portions 12a and 12b. Even if the covering portion 30b of No. 2 comes into contact with the trocar 32, it is less likely to be caught by the trocar 32, and the joint cover 30 is less likely to turn over due to partial deformation as shown in FIG. 2(b). That is, even if the second covering portion 30b of the joint cover 30 comes into contact with the trocar 32 when inserting and removing the forceps device 10, the force received from the trocar can be suppressed, making it difficult for the joint cover 30 to come off from the forceps device 10.
  • the joint cover 30 according to the present embodiment is provided with a deformation suppressing member 36 as an annular convex portion on the back surface, which is less likely to deform than the joint cover 30.
  • “hard to deform” means not only when the material of the deformation suppressing member 36 is harder than the material of the joint cover 30 (when Young's modulus and elastic modulus are large), but also when the shape and size of the deformation suppressing member 36 are adjusted.
  • This also includes a case where the structure is made more rigid than the joint cover 30. In such a case, the joint cover 30 whose back surface is partially supported by the deformation suppressing member 36 is less likely to deform than the joint cover 30 alone.
  • the deformation suppressing member 36 is not necessarily essential. Further, the second covering portion 30b and the deformation suppressing member 36 may be integrally made of the same material.
  • FIG. 5 is an enlarged view of the vicinity of the second covering part in the forceps device according to the present embodiment.
  • the first covering part 30a and the second covering part 30b according to this embodiment are cylindrical or ring-shaped members.
  • the base cap 26 has an annular recess 26a formed on its outer periphery.
  • the deformation suppressing member 36 described above has a shape that fits into the recess 26a. In this way, the deformation suppressing member 36, which is less deformable than the joint cover 30, is fitted into the annular recess 26a formed on the outer periphery of the base cap 26, so that the joint cover 30 as shown in FIG. Part of the base cap 26 is prevented from deforming and rising from the recess 26a of the base cap 26.
  • the joint cover 30 becomes difficult to lift up, the state in which the deformation suppressing member 36 fitted in the recess 26a of the base cap 26 is caught on the step 26c is maintained. In other words, the joint cover 30 provided with the deformation suppressing member 36 becomes difficult to come off from the base cap 26.
  • a portion 30d of the back surface of the first covering portion 30a that covers the tip portion 31 is not covered with the deformation suppressing member 36. Even if the end 32a of the trocar 32 bites into the front end side of the joint cover 30 whose back surface is not covered with the deformation suppressing member 36, the joint cover 30 at the front end 31 is difficult to bend (hard to deform), so the first covering part A material having relatively higher slidability than the second covering portion 30b can be used for the second covering portion 30a.
  • the distal end portion 31 has a first rotating shaft 16 that serves as a joint when the entire gripping portions 12a and 12b, which are treatment portions, is bent.
  • a second rotating shaft 38 is provided, which serves as a joint when opening and closing the sections 12a and 12b.
  • the joint portion of the joint cover 30 according to this embodiment is not covered with the second covering portion 30b. Therefore, the second covering part 30b does not directly affect the motion resistance of the treatment section centered on the joint, so it becomes easier to adjust the characteristics of the second covering part regarding sliding friction.
  • the diameter d1 of the pipe-side end surface 30c of the joint cover 30 is set within a range of 8.4 ⁇ 1.5 mm. Further, the thickness of the joint cover 30 is set within a range of 0.5 ⁇ 0.3 mm.
  • the diameter d2 of the deformation suppressing member 36 is set within a range of 7.8 ⁇ 1.5 mm. Further, the thickness of the deformation suppressing member 36 is set within a range of 0.5 ⁇ 0.3 mm.
  • the end surface 30c of the joint cover 30 is preferably covered by the end surface 28a of the pipe 28. Further, the diameter d4 of the pipe 28 is set within a range of 8.4 ⁇ 1.5 mm.
  • the diameter d1 of the joint cover 30 is smaller than the inner diameter d5 of the trocar into which the forceps device 10 is inserted. Thereby, the forceps device 10 can change its posture inside the trocar 32.
  • the inner diameter d5 according to this embodiment is set in the range of 10 to 15 mm, and the effective length L2 of the trocar 32 is set in the range of 30 to 100 mm.
  • the surface material of the trocar 32 is, for example, resin such as polycarbonate or polyolefin, or metal such as stainless steel.
  • the diameter d1 of the joint cover 30 is too large, the change in the posture of the forceps device 10 with respect to the trocar 32 will be small. On the other hand, if the diameter d1 is too small, the inclination ⁇ of the trocar 32 with respect to the forceps device 10 tends to become large, and the bite (contact load) of the end 32a of the trocar 32 into the joint cover 30 at the contact position P becomes large. Therefore, the diameter d1 of the joint cover 30, the inner diameter d5 and the effective length L2 of the trocar 32 are adjusted so that the maximum value of the inclination ⁇ is within the range of 15 ⁇ 5° with respect to the trocar 32 into which the forceps device 10 is inserted and removed. It is a good idea to set the size.
  • the base cap 26 has a through hole 26b through which the wires 22 and 24 that operate the gripping portions 12a and 12b, which are the treatment portions, open, close, and bend. Further, the length L1 of the recess 26a provided in the portion covered by the second covering portion 30b of the base cap 26 is in the range of 7.0 ⁇ 3 mm, and the diameter d6 of the small diameter portion of the recess 26a is in the range of 7.0 ⁇ 3 mm. It is set within the range of 7.2 ⁇ 1.5mm. Further, the diameter d7 of the large diameter portion of the base cap 26 is set within a range of 7.8 ⁇ 1.5 mm.
  • the deformation suppressing member 36 is preferably made of a material with high rigidity and surface sliding properties, such as PE (polyethylene), PP (polypropylene), PPS (polyphenylene sulfide), PEEK (polyetheretherketone), PEI (polyethylene), etc. It is preferable that it is formed from a resin material containing at least one selected from the group consisting of (etherimide) and PSU (polysulfone). Thereby, the fitability of the joint cover 30 made of a relatively soft material is not impaired, and deformation of the joint cover 30 due to biting of the trocar 32 after being fitted can be suppressed.
  • PE polyethylene
  • PP polypropylene
  • PPS polyphenylene sulfide
  • PEEK polyetheretherketone
  • PEI polyethylene
  • FIG. 6 is a longitudinal cross-sectional view showing essential parts of a cover according to a first modification of the present embodiment.
  • a region (second covering section 48b) coated with a coating material is provided on a part of the surface 48c on the rear end side of the first covering section 48a.
  • the coating material according to this embodiment may contain a fluorine-based coating material or a DLC (Diamond-Like Carbon) coating material.
  • the deformation suppressing member 36 may be provided on the back side of the first covering part 48a at a position facing the second covering part 48b.
  • FIG. 7 is a longitudinal cross-sectional view showing essential parts of a cover according to a second modification of the present embodiment.
  • a region (second covering part 52b) is provided on a part of the surface 52c of the first covering part 52a, which is subjected to a post-treatment to improve sliding properties.
  • the post-treatment is, for example, a treatment for thermally or chemically increasing the surface smoothness (reducing the surface roughness Ra).
  • the second covering part 52b having a different function and composition from the first covering part 52a can be formed by simply preparing the first covering part 52a without combining two parts or materials.
  • the thermal treatment includes treatments such as hardening and baking.
  • the chemical treatment includes a treatment of exposing the material to a predetermined atmosphere (a gas atmosphere containing a large amount of a predetermined element) and a treatment of applying a chemical in order to change the composition of the material constituting the joint cover.
  • a predetermined atmosphere a gas atmosphere containing a large amount of a predetermined element
  • a treatment of applying a chemical in order to change the composition of the material constituting the joint cover is preferably 6.3 ⁇ m or less.
  • the present invention has been described above with reference to the above-described embodiments, the present invention is not limited to the above-described embodiments, and may also be applied to combinations or substitutions of the configurations of the embodiments as appropriate. It is included in the present invention. Furthermore, it is possible to appropriately rearrange the combinations and order of processing in the embodiments based on the knowledge of those skilled in the art, and to make various modifications to the embodiments, such as various design changes. Such embodiments may also be included within the scope of the present invention.
  • the present invention makes it difficult for the cover to come off from the forceps device.

Abstract

A joint cover 30 is a cylindrical cover attached to a forceps device that has a treatment part for performing a treatment, wherein the joint cover 30 is provided with a first covering part 30a covering a front end part comprising the treatment part, and a second covering part 30b covering a rear end side from the front end part. The second covering part 30b is configured to have a low sliding friction with a trocar, compared to the first covering part 30a, when caught by said trocar during the insertion of the forceps device.

Description

カバー及び鉗子装置Cover and forceps device
　本発明は、鉗子装置のカバーに関する。 The present invention relates to a cover for a forceps device.
　近年、術者の負担軽減や、医療施設の省人化を図るためにロボット（マニピュレータ）を利用した医療処置の提案がされている。外科分野では、術者が遠隔操作可能な手術用マニピュレータを操作して患者の処置を行う、手術用マニピュレータシステムに関する提案が行われている。 In recent years, medical treatments using robots (manipulators) have been proposed in order to reduce the burden on surgeons and save labor in medical facilities. In the field of surgery, proposals have been made regarding surgical manipulator systems in which a surgeon operates a remotely controllable surgical manipulator to treat a patient.
　手術用マニピュレータの先端には各種の術具が装着されており、術具として手術の際に人体の組織を把持する鉗子が知られている。例えば、特許文献１には、外科処置具における少なくとも基部の周囲を覆う筒状に形成された部材である外科処置具用カバーが開示されている。 Various surgical tools are attached to the tip of a surgical manipulator, and forceps used to grasp human tissue during surgery are known as surgical tools. For example, Patent Document 1 discloses a cover for a surgical instrument, which is a cylindrical member that covers at least the periphery of the base of the surgical instrument.
特開２０１９－１９５４０２号公報JP 2019-195402 Publication
　しかしながら、前述の外科処置具用カバーは、内視鏡外科手術などで使用可能なゴムなどの柔軟性を有する材料から形成されている。そのため、トロッカーを通して外科処置具を挿抜する際に、トロッカーの端部にカバーが引っかかる可能性があり、場合によってはカバーが外科処置具から抜けるおそれがある。 However, the above-mentioned surgical instrument cover is made of a flexible material such as rubber that can be used in endoscopic surgery. Therefore, when inserting and removing the surgical instrument through the trocar, the cover may get caught on the end of the trocar, and in some cases, the cover may come off from the surgical instrument.
　本発明はこうした状況に鑑みてなされたものであり、その例示的な目的の一つは、鉗子装置等の術具からカバーが抜けにくくなる新たな技術を提供することにある。 The present invention has been made in view of these circumstances, and one of its illustrative purposes is to provide a new technique that makes it difficult for the cover to come off from a surgical instrument such as a forceps device.
　上記課題を解決するために、本発明のある態様のカバーは、対象の処置を行う処置部を有する鉗子装置に装着される筒状のカバーであって、処置部を含む先端部を覆う第１の被覆部と、先端部より後端側を覆う第２の被覆部と、を有する。第２の被覆部は、第１の被覆部と比較して、鉗子装置を挿抜する際にトロッカーに引っかかった場合に該トロッカーとの摺動摩擦が低い構成である。 In order to solve the above problems, a cover according to an aspect of the present invention is a cylindrical cover that is attached to a forceps device having a treatment section for treating a target, the first cover covering the distal end section including the treatment section. and a second covering part that covers the rear end side from the distal end part. Compared to the first covering part, the second covering part is configured to have a lower sliding friction with the trocar when the forceps device is caught on the trocar when the forceps device is inserted or removed.
　第１の被覆部よりも鉗子装置の根本側にある第２の被覆部は、トロッカーに引っかかると第１の被覆部と比較してめくれやすい。この態様によると、第２の被覆部は、第１の被覆部と比較してトロッカーとの摺動摩擦が低い構成であるため、鉗子装置を挿抜する際にカバーの第２の被覆部がトロッカーと接触してもトロッカーから受ける力を抑えられるため、鉗子装置からカバーが抜けにくくなる。ここで、摺動摩擦が低い構成とは、いわゆる動摩擦係数や静摩擦係数が低い材料、表面状態を含む。 The second covering part, which is closer to the base of the forceps device than the first covering part, is more likely to be turned over than the first covering part if it gets caught in the trocar. According to this aspect, since the second covering part has a structure that has lower sliding friction with the trocar than the first covering part, the second covering part of the cover contacts the trocar when inserting and removing the forceps device. Even if there is contact, the force received from the trocar can be suppressed, making it difficult for the cover to come off from the forceps device. Here, the configuration with low sliding friction includes materials and surface conditions with so-called low dynamic friction coefficients and low static friction coefficients.
　第２の被覆部は、カバー表面の一部にコーティング材料が塗布された領域であってもよい。これにより、簡便にカバー表面の所望の領域の摺動摩擦を低くできる。 The second covering portion may be a region where a coating material is applied to a part of the cover surface. Thereby, the sliding friction of a desired area on the cover surface can be easily lowered.
　コーティング材料は、フッ素系コーティング材料又はＤＬＣ（Diamond-Like Carbon）コーティング材料を含有してもよい。これにより、第２の被覆部の摺動摩擦を低くできる。 The coating material may contain a fluorine-based coating material or a DLC (Diamond-Like Carbon) coating material. Thereby, the sliding friction of the second covering portion can be reduced.
　第２の被覆部は、表面粗さＲａが６．３μｍ以下であってもよい。 The second covering portion may have a surface roughness Ra of 6.3 μm or less.
　第２の被覆部は、ポリウレタン、シリコーンゴム、エチレンゴム、フッ素ゴム、ニトリルゴム、天然ゴム、ブチルゴム及びセラミックスウレタンからなる群より選択される少なくとも一つを含有してもよい。 The second covering portion may contain at least one selected from the group consisting of polyurethane, silicone rubber, ethylene rubber, fluororubber, nitrile rubber, natural rubber, butyl rubber, and ceramic urethane.
　本発明の他の態様は鉗子装置である。この鉗子装置は、対象の処置を行う処置部を有する先端部と、先端部と接続される柱状部品と、柱状部品の、先端部と接続される側と反対側に接続されるパイプと、先端部から柱状部品にかけて装着されるカバーと、を備えている。 Another aspect of the present invention is a forceps device. This forceps device includes a distal end having a treatment section for treating a target, a columnar component connected to the distal end, a pipe connected to a side of the columnar component opposite to the side connected to the distal end, and a distal end. and a cover that is attached from the columnar part to the columnar part.
　この態様によると、カバーの第２の被覆部がトロッカーと接触してもトロッカーから受ける力を抑えられるため、カバーが抜けにくい鉗子装置を実現できる。 According to this aspect, even if the second covering portion of the cover comes into contact with the trocar, the force received from the trocar can be suppressed, so it is possible to realize a forceps device in which the cover does not easily come off.
　先端部は、処置部が動作するための関節部を有してもよい。関節部は、第２の被覆部で覆われていない。これにより、第２の被覆部は、関節部を中心とする処置部の動作抵抗に直接影響を与えないため、摺動摩擦に関する第２の被覆部の特性を調整しやすくなる。 The distal end portion may have a joint portion for operating the treatment section. The joint portion is not covered with the second covering portion. As a result, the second covering section does not directly affect the motion resistance of the treatment section centered on the joint, so it becomes easier to adjust the characteristics of the second covering section regarding sliding friction.
　なお、以上の構成要素の任意の組合せ、本発明の表現を方法、装置、システム、などの間で変換したものもまた、本発明の態様として有効である。 Note that any combination of the above constituent elements and the expression of the present invention converted between methods, devices, systems, etc. are also effective as aspects of the present invention.
　本発明によれば、鉗子装置からカバーが抜けにくくなる。 According to the present invention, the cover becomes difficult to come off from the forceps device.
本実施の形態に係る鉗子装置の正面図である。FIG. 2 is a front view of the forceps device according to the present embodiment. 図２（ａ）～図２（ｂ）は、ジョイントカバーがベースキャップから抜ける様子を説明するための模式図である。FIGS. 2(a) to 2(b) are schematic diagrams for explaining how the joint cover comes off from the base cap. 本実施の形態に係るカバーの斜視図である。FIG. 2 is a perspective view of a cover according to the present embodiment. 図３に示すカバーの要部を示す縦断面図である。FIG. 4 is a longitudinal cross-sectional view showing a main part of the cover shown in FIG. 3; 本実施の形態に係る鉗子装置における第２の被覆部近傍を拡大した図である。FIG. 6 is an enlarged view of the vicinity of a second covering portion in the forceps device according to the present embodiment. 本実施の形態の第１の変形例に係るカバーの要部を示す縦断面図である。FIG. 7 is a longitudinal cross-sectional view showing essential parts of a cover according to a first modified example of the present embodiment. 本実施の形態の第２の変形例に係るカバーの要部を示す縦断面図である。It is a longitudinal cross-sectional view showing the main part of the cover concerning the 2nd modification of this embodiment.
　以下、本発明を実施の形態をもとに図面を参照しながら説明する。各図面に示される同一又は同等の構成要素、部材、処理には、同一の符号を付するものとし、適宜重複した説明は省略する。また、実施の形態は、発明を限定するものではなく例示であって、実施の形態に記述される全ての特徴やその組合せは、必ずしも発明の本質的なものであるとは限らない。 Hereinafter, the present invention will be described based on embodiments and with reference to the drawings. Identical or equivalent components, members, and processes shown in each drawing are designated by the same reference numerals, and redundant explanations will be omitted as appropriate. Furthermore, the embodiments are illustrative rather than limiting the invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.
　（鉗子装置）
　図１は、本実施の形態に係る鉗子装置の正面図である。図１に示す医療用の鉗子装置１０は、一対の把持部１２ａ，１２ｂと、一対の把持部１２ａ，１２ｂを保持する支持体１４と、支持体１４を回転可能に支持する第１の回転軸１６と、第１の回転軸１６を保持するベース部品１８と、第１の回転軸１６と同軸に配置されている４つのガイドプーリ（不図示）と、一対の把持部１２ａ，１２ｂと同軸に保持される４つのジョープーリ２０と、４つのガイドプーリと４つのジョープーリ２０との間に掛けられた４本のワイヤ２２と、支持体１４を第１の回転軸１６を中心に回転させるための２本のワイヤ２４と、を備えている。 (forceps device)
FIG. 1 is a front view of a forceps device according to this embodiment. A medical forceps device 10 shown in FIG. 1 includes a pair of gripping parts 12a and 12b, a support body 14 that holds the pair of gripping parts 12a and 12b, and a first rotating shaft that rotatably supports the support body 14. 16, a base component 18 that holds the first rotating shaft 16, four guide pulleys (not shown) arranged coaxially with the first rotating shaft 16, and coaxially with the pair of gripping parts 12a and 12b. The four jaw pulleys 20 to be held, the four wires 22 hung between the four guide pulleys and the four jaw pulleys 20, and the two wires 22 for rotating the support body 14 around the first rotation axis 16. The main wire 24 is provided.
　ベース部品１８は、柱状部品であるベースキャップ２６の先端側と連結されている。ベースキャップ２６の後端側はパイプ２８と連結されている。本実施の形態に係る鉗子装置１０は、支持体１４からベースキャップ２６の後端部まで、円筒状のジョイントカバー３０で覆われている。これにより、手術中にワイヤやプーリ等の部品間の隙間に異物が入り込みにくくなる。また、把持部１２ａ，１２ｂに電気を通して患者の組織を止血するタイプの鉗子装置の場合、絶縁性を有するジョイントカバー３０が用いられる。 The base component 18 is connected to the tip side of a base cap 26, which is a columnar component. The rear end side of the base cap 26 is connected to a pipe 28. The forceps device 10 according to the present embodiment is covered with a cylindrical joint cover 30 from the support body 14 to the rear end of the base cap 26. This makes it difficult for foreign objects to enter gaps between parts such as wires and pulleys during surgery. Further, in the case of a forceps device of the type that applies electricity to the gripping portions 12a and 12b to stop bleeding in the patient's tissue, a joint cover 30 having insulating properties is used.
　ベースキャップ２６は、材質がエンジニアリングプラスチック等で構成されている円筒状（柱状）の樹脂部品である。これにより、部品強度と絶縁性を両立し得る。具体的には、ＰＥＥＫ（ポリエーテルエーテルケトン）やＰＥＩ（ポリエーテルイミド）といった材料が用いられるが、これらに限られない。 The base cap 26 is a cylindrical (column-shaped) resin component made of engineering plastic or the like. This makes it possible to achieve both component strength and insulation. Specifically, materials such as PEEK (polyetheretherketone) and PEI (polyetherimide) are used, but are not limited to these.
　パイプ２８の材質は、例えば、ＣＦＲＰ（炭素繊維強化プラスチック）やＧＦＲＰ（ガラス繊維強化プラスチック）が用いられる。ジョイントカバー３０は、絶縁性が高く屈曲性に優れた材料が好ましく、例えば、ブチルゴムやシリコーンゴムが用いられる。 The material used for the pipe 28 is, for example, CFRP (carbon fiber reinforced plastic) or GFRP (glass fiber reinforced plastic). The joint cover 30 is preferably made of a material with high insulation properties and excellent flexibility, such as butyl rubber or silicone rubber.
　このように、本実施の形態に係る鉗子装置１０は、手術対象の処置を行う処置部としての把持部１２ａ，１２ｂを有する先端部３１と、先端部３１と接続されるベースキャップ２６と、ベースキャップ２６の、先端部３１と接続される側と反対側に接続されるパイプ２８と、先端部３１からベースキャップ２６にかけて装着されるジョイントカバー３０と、を備える。 As described above, the forceps device 10 according to the present embodiment includes a distal end portion 31 having gripping portions 12a and 12b as a treatment section for treating a surgical object, a base cap 26 connected to the distal end portion 31, and a base cap 26 connected to the distal end portion 31. It includes a pipe 28 connected to the side of the cap 26 opposite to the side connected to the tip 31, and a joint cover 30 attached from the tip 31 to the base cap 26.
　図２（ａ）～図２（ｂ）は、ジョイントカバーがベースキャップから抜ける様子を説明するための模式図である。鉗子装置１０は、腹腔鏡手術の際にトロッカー３２を介して患者の体内に挿入される。挿入された鉗子装置１０は患者の体内で傾いたりスライドしたりする場合がある。そのため、トロッカー３２の端部３２ａに引っかかったジョイントカバー３０（図２（ａ））は、そのまま鉗子装置１０がトロッカー３２から抜ける方向に動く際に一部がベースキャップ２６の凹部２６ａから浮き上がる（図２（ｂ））。そのため、ジョイントカバー３０とベースキャップ２６の凹部２６ａとの接触面積が減り、摩擦が減少することで更にジョイントカバー３０が抜けやすくなる。 FIGS. 2(a) to 2(b) are schematic diagrams for explaining how the joint cover comes off from the base cap. The forceps device 10 is inserted into a patient's body via a trocar 32 during laparoscopic surgery. The inserted forceps device 10 may tilt or slide inside the patient's body. Therefore, a portion of the joint cover 30 (FIG. 2(a)) caught on the end 32a of the trocar 32 lifts up from the recess 26a of the base cap 26 when the forceps device 10 moves in the direction to remove it from the trocar 32 (FIG. 2(a)). 2(b)). Therefore, the contact area between the joint cover 30 and the recess 26a of the base cap 26 is reduced, and the friction is reduced, making it easier for the joint cover 30 to come off.
　その状態で更にジョイントカバー３０にトロッカー３２から力が加わると、最終的にジョイントカバー３０が鉗子装置１０から抜け落ちる可能性がある。そこで、本実施の形態に係る鉗子装置１０は、トロッカー３２の端部３２ａがジョイントカバー３０に引っかかった場合に、ジョイントカバー３０とトロッカー３２との摺動摩擦が低い構成を採用している。 If force is further applied to the joint cover 30 from the trocar 32 in this state, there is a possibility that the joint cover 30 will eventually fall off from the forceps device 10. Therefore, the forceps device 10 according to the present embodiment employs a configuration in which sliding friction between the joint cover 30 and the trocar 32 is low when the end portion 32a of the trocar 32 is caught on the joint cover 30.
　図３は、本実施の形態に係るカバーの斜視図である。図４は、図３に示すカバーの要部を示す縦断面図である。本実施の形態に係るジョイントカバー３０は、対象の処置を行う把持部１２ａ，１２ｂを有する鉗子装置に装着される筒状のカバーである。ジョイントカバー３０は、先端部３１を覆う第１の被覆部３０ａと、先端部３１より後端側を覆う第２の被覆部３０ｂと、を有する。第２の被覆部３０ｂは、第１の被覆部３０ａと比較して、鉗子装置１０を挿抜する際にトロッカー３２に引っかかった場合にトロッカー３２との摺動摩擦が低い構成である。ここで、摺動摩擦が低い構成とは、いわゆる動摩擦係数や静摩擦係数が低い材料、表面状態を含む。 FIG. 3 is a perspective view of the cover according to this embodiment. FIG. 4 is a longitudinal cross-sectional view showing essential parts of the cover shown in FIG. 3. FIG. The joint cover 30 according to the present embodiment is a cylindrical cover that is attached to a forceps device having gripping parts 12a and 12b for treating a target. The joint cover 30 has a first covering part 30a that covers the distal end part 31, and a second covering part 30b that covers the rear end side of the distal end part 31. The second covering part 30b is configured to have a lower sliding friction with the trocar 32 when the forceps apparatus 10 is caught on the trocar 32 when the forceps device 10 is inserted or removed, compared to the first covering part 30a. Here, the configuration with low sliding friction includes materials and surface conditions with so-called low dynamic friction coefficients and low static friction coefficients.
　通常、第１の被覆部３０ａよりも鉗子装置１０の根本側（パイプ２８側）にある第２の被覆部３０ｂは、トロッカー３２に引っかかると第１の被覆部３０ａと比較してめくれやすい。そこで、本実施の形態に係る第２の被覆部３０ｂは、第１の被覆部３０ａと比較してトロッカー３２との摺動摩擦が低くなるように構成されている。具体的には、第１の被覆部３０ａは、表面粗さＲａが相対的に大きなブチルゴムであり、第２の被覆部３０ｂは、表面粗さＲａが相対的に小さなブチルゴムである。 Normally, the second covering part 30b, which is located closer to the root of the forceps device 10 (pipe 28 side) than the first covering part 30a, is more likely to be turned over than the first covering part 30a when caught by the trocar 32. Therefore, the second covering part 30b according to the present embodiment is configured to have lower sliding friction with the trocar 32 than the first covering part 30a. Specifically, the first covering part 30a is made of butyl rubber with a relatively large surface roughness Ra, and the second covering part 30b is made of butyl rubber with a relatively small surface roughness Ra.
　第２の被覆部３０ｂは、表面粗さＲａが６．３μｍ以下である。同様に第１の被覆部３０ａは、表面粗さＲａが６．３μｍ以下である。また、第２の被覆部３０ｂは、前述のブチルゴム以外に、ポリウレタン、シリコーンゴム、エチレンゴム、フッ素ゴム、ニトリルゴム、天然ゴム及びセラミックスウレタンからなる群より選択される少なくとも一つを含有してもよい。 The second coating portion 30b has a surface roughness Ra of 6.3 μm or less. Similarly, the first covering portion 30a has a surface roughness Ra of 6.3 μm or less. In addition to the above-mentioned butyl rubber, the second covering portion 30b may contain at least one selected from the group consisting of polyurethane, silicone rubber, ethylene rubber, fluororubber, nitrile rubber, natural rubber, and ceramic urethane. good.
　これにより、本実施の形態に係る第２の被覆部３０ｂは、把持部１２ａ，１２ｂを含む先端部３１を覆う第１の被覆部３０ａと比較して摺動摩擦が低く構成されているため、第２の被覆部３０ｂがトロッカー３２と接触してもトロッカー３２に引っかかりにくくなり、図２（ｂ）に示すようなジョイントカバー３０の一部の変形によるめくれが発生しにくくなる。つまり、鉗子装置１０を挿抜する際にジョイントカバー３０の第２の被覆部３０ｂがトロッカー３２と接触してもトロッカーから受ける力を抑えられるため、鉗子装置１０からジョイントカバー３０が抜けにくくなる。 As a result, the second covering portion 30b according to the present embodiment has a lower sliding friction than the first covering portion 30a that covers the tip portion 31 including the gripping portions 12a and 12b. Even if the covering portion 30b of No. 2 comes into contact with the trocar 32, it is less likely to be caught by the trocar 32, and the joint cover 30 is less likely to turn over due to partial deformation as shown in FIG. 2(b). That is, even if the second covering portion 30b of the joint cover 30 comes into contact with the trocar 32 when inserting and removing the forceps device 10, the force received from the trocar can be suppressed, making it difficult for the joint cover 30 to come off from the forceps device 10.
　なお、本実施の形態に係るジョイントカバー３０は、裏面にジョイントカバー３０よりも変形しにくい変形抑制部材３６が環状凸部として設けられている。ここで、変形しにくいとは、変形抑制部材３６の材料がジョイントカバー３０の材料よりも硬い場合（ヤング率や弾性率が大きい場合）だけでなく、変形抑制部材３６の形状や大きさを調整することでジョイントカバー３０と比較して剛性が高い構造とする場合も含む。このような場合、裏面の一部が変形抑制部材３６でサポートされているジョイントカバー３０は、ジョイントカバー３０単独よりも変形しにくくなる。なお、本実施の形態に係るジョイントカバー３０において、変形抑制部材３６は必ずしも必須ではない。また、第２の被覆部３０ｂと変形抑制部材３６とが一体的に同じ材料で構成されていてもよい。 Note that the joint cover 30 according to the present embodiment is provided with a deformation suppressing member 36 as an annular convex portion on the back surface, which is less likely to deform than the joint cover 30. Here, "hard to deform" means not only when the material of the deformation suppressing member 36 is harder than the material of the joint cover 30 (when Young's modulus and elastic modulus are large), but also when the shape and size of the deformation suppressing member 36 are adjusted. This also includes a case where the structure is made more rigid than the joint cover 30. In such a case, the joint cover 30 whose back surface is partially supported by the deformation suppressing member 36 is less likely to deform than the joint cover 30 alone. Note that in the joint cover 30 according to the present embodiment, the deformation suppressing member 36 is not necessarily essential. Further, the second covering portion 30b and the deformation suppressing member 36 may be integrally made of the same material.
　図５は、本実施の形態に係る鉗子装置における第２の被覆部近傍を拡大した図である。図３乃至図５に示すように、本実施の形態に係る第１の被覆部３０ａや第２の被覆部３０ｂは、筒状又はリング状の部材である。これにより、トロッカー３２と鉗子装置１０が接触する接触位置Ｐが第２の被覆部３０ｂの周方向のどの位置であっても、当接したトロッカー３２から受ける力を抑えられるため、ジョイントカバー３０の変形を抑制できる。 FIG. 5 is an enlarged view of the vicinity of the second covering part in the forceps device according to the present embodiment. As shown in FIGS. 3 to 5, the first covering part 30a and the second covering part 30b according to this embodiment are cylindrical or ring-shaped members. As a result, no matter where the contact position P where the trocar 32 and the forceps device 10 come into contact is at any position in the circumferential direction of the second covering portion 30b, the force received from the trocar 32 that is in contact can be suppressed, so that the joint cover 30 Deformation can be suppressed.
　また、図５に示すように、ベースキャップ２６は、外周に環状の凹部２６ａが形成されている。そして、前述の変形抑制部材３６は、凹部２６ａに嵌まる形状を有する。このように、ベースキャップ２６の外周に形成された環状の凹部２６ａに、ジョイントカバー３０よりも変形しにくい変形抑制部材３６が嵌まることで、図２（ｂ）に示すようなジョイントカバー３０の一部が変形してベースキャップ２６の凹部２６ａから浮き上がることが抑制される。 Further, as shown in FIG. 5, the base cap 26 has an annular recess 26a formed on its outer periphery. The deformation suppressing member 36 described above has a shape that fits into the recess 26a. In this way, the deformation suppressing member 36, which is less deformable than the joint cover 30, is fitted into the annular recess 26a formed on the outer periphery of the base cap 26, so that the joint cover 30 as shown in FIG. Part of the base cap 26 is prevented from deforming and rising from the recess 26a of the base cap 26.
　また、ジョイントカバー３０が浮き上がりにくくなることで、ベースキャップ２６の凹部２６ａに嵌まっている変形抑制部材３６が段差２６ｃに引っかかった状態が維持される。つまり、変形抑制部材３６が設けられているジョイントカバー３０は、ベースキャップ２６から抜けにくくなる。 Furthermore, since the joint cover 30 becomes difficult to lift up, the state in which the deformation suppressing member 36 fitted in the recess 26a of the base cap 26 is caught on the step 26c is maintained. In other words, the joint cover 30 provided with the deformation suppressing member 36 becomes difficult to come off from the base cap 26.
　また、本実施の形態に係るジョイントカバー３０は、先端部３１を覆う第１の被覆部３０ａの裏面の一部３０ｄが変形抑制部材３６で覆われていない。変形抑制部材３６で裏面が覆われていないジョイントカバー３０の先端側にトロッカー３２の端部３２ａが食い込んでも、先端部３１のジョイントカバー３０は撓みづらい（変形しにくい）ため、第１の被覆部３０ａに第２の被覆部３０ｂよりも相対的に摺動性の高い材料を用いることができる。 Furthermore, in the joint cover 30 according to the present embodiment, a portion 30d of the back surface of the first covering portion 30a that covers the tip portion 31 is not covered with the deformation suppressing member 36. Even if the end 32a of the trocar 32 bites into the front end side of the joint cover 30 whose back surface is not covered with the deformation suppressing member 36, the joint cover 30 at the front end 31 is difficult to bend (hard to deform), so the first covering part A material having relatively higher slidability than the second covering portion 30b can be used for the second covering portion 30a.
　なお、本実施の形態に係る先端部３１は、図１に示すように、処置部である把持部１２ａ，１２ｂ全体の屈曲動作をする際の関節部となる第１の回転軸１６と、把持部１２ａ，１２ｂの開閉動作をする際の関節部となる第２の回転軸３８と、が設けられている。そして、本実施の形態に係るジョイントカバー３０における関節部は、第２の被覆部３０ｂで覆われていない。そのため、第２の被覆部３０ｂは、関節部を中心とする処置部の動作抵抗に直接影響を与えないため、摺動摩擦に関する第２の被覆部の特性を調整しやすくなる。 Note that, as shown in FIG. 1, the distal end portion 31 according to the present embodiment has a first rotating shaft 16 that serves as a joint when the entire gripping portions 12a and 12b, which are treatment portions, is bent. A second rotating shaft 38 is provided, which serves as a joint when opening and closing the sections 12a and 12b. The joint portion of the joint cover 30 according to this embodiment is not covered with the second covering portion 30b. Therefore, the second covering part 30b does not directly affect the motion resistance of the treatment section centered on the joint, so it becomes easier to adjust the characteristics of the second covering part regarding sliding friction.
　次に各部の径や長さについて説明する。本実施の形態に係るジョイントカバー３０のパイプ側の端面３０ｃの直径ｄ１は８．４±１．５ｍｍの範囲で設定されている。また、ジョイントカバー３０の厚みは０．５±０．３ｍｍの範囲で設定されている。変形抑制部材３６の直径ｄ２は７．８±１．５ｍｍの範囲で設定されている。また、変形抑制部材３６の厚みは０．５±０．３ｍｍの範囲で設定されている。また、ジョイントカバー３０の端面３０ｃは、パイプ２８の端面２８ａに覆われているとよい。また、パイプ２８の直径ｄ４は８．４±１．５ｍｍの範囲で設定されている。 Next, the diameter and length of each part will be explained. The diameter d1 of the pipe-side end surface 30c of the joint cover 30 according to the present embodiment is set within a range of 8.4±1.5 mm. Further, the thickness of the joint cover 30 is set within a range of 0.5±0.3 mm. The diameter d2 of the deformation suppressing member 36 is set within a range of 7.8±1.5 mm. Further, the thickness of the deformation suppressing member 36 is set within a range of 0.5±0.3 mm. Further, the end surface 30c of the joint cover 30 is preferably covered by the end surface 28a of the pipe 28. Further, the diameter d4 of the pipe 28 is set within a range of 8.4±1.5 mm.
　ジョイントカバー３０は、鉗子装置１０が挿入されるトロッカーの内径ｄ５よりも直径ｄ１が小さい。これにより、鉗子装置１０がトロッカー３２の内部で姿勢を変えることができる。本実施の形態に係る内径ｄ５は、１０～１５ｍｍの範囲で設定されており、トロッカー３２の有効長Ｌ２は、３０～１００ｍｍの範囲で設定されている。トロッカー３２の表面材質は、例えば、ポリカーボネートやポリオレフィンといった樹脂、ステンレス等の金属である。 The diameter d1 of the joint cover 30 is smaller than the inner diameter d5 of the trocar into which the forceps device 10 is inserted. Thereby, the forceps device 10 can change its posture inside the trocar 32. The inner diameter d5 according to this embodiment is set in the range of 10 to 15 mm, and the effective length L2 of the trocar 32 is set in the range of 30 to 100 mm. The surface material of the trocar 32 is, for example, resin such as polycarbonate or polyolefin, or metal such as stainless steel.
　ジョイントカバー３０の直径ｄ１が大きすぎると、トロッカー３２に対して鉗子装置１０の姿勢変化が小さくなってしまう。一方、直径ｄ１が小さすぎると、鉗子装置１０に対するトロッカー３２の傾きαが大きくなりがちになり、接触位置Ｐにおけるトロッカー３２の端部３２ａのジョイントカバー３０への食い込み（接触荷重）が大きくなる。そこで、鉗子装置１０を挿抜するトロッカー３２に対して、傾きαの最大値が１５±５°の範囲となるように、ジョイントカバー３０の直径ｄ１と、トロッカー３２の内径ｄ５及び有効長Ｌ２との大きさを設定するとよい。 If the diameter d1 of the joint cover 30 is too large, the change in the posture of the forceps device 10 with respect to the trocar 32 will be small. On the other hand, if the diameter d1 is too small, the inclination α of the trocar 32 with respect to the forceps device 10 tends to become large, and the bite (contact load) of the end 32a of the trocar 32 into the joint cover 30 at the contact position P becomes large. Therefore, the diameter d1 of the joint cover 30, the inner diameter d5 and the effective length L2 of the trocar 32 are adjusted so that the maximum value of the inclination α is within the range of 15±5° with respect to the trocar 32 into which the forceps device 10 is inserted and removed. It is a good idea to set the size.
　本実施の形態に係るベースキャップ２６は、処置部である把持部１２ａ，１２ｂの開閉や屈曲といった動作をさせるワイヤ２２やワイヤ２４が通る貫通孔２６ｂを有している。また、ベースキャップ２６の第２の被覆部３０ｂで覆われている部分に設けられている凹部２６ａは、長さＬ１が７．０±３ｍｍの範囲であり、凹部２６ａの小径部分の直径ｄ６が７．２±１．５ｍｍの範囲で設定されている。また、ベースキャップ２６の大径部分の直径ｄ７は７．８±１．５ｍｍの範囲で設定されている。 The base cap 26 according to this embodiment has a through hole 26b through which the wires 22 and 24 that operate the gripping portions 12a and 12b, which are the treatment portions, open, close, and bend. Further, the length L1 of the recess 26a provided in the portion covered by the second covering portion 30b of the base cap 26 is in the range of 7.0±3 mm, and the diameter d6 of the small diameter portion of the recess 26a is in the range of 7.0±3 mm. It is set within the range of 7.2±1.5mm. Further, the diameter d7 of the large diameter portion of the base cap 26 is set within a range of 7.8±1.5 mm.
　なお、変形抑制部材３６は、剛性及び表面の摺動性が高い材料が好ましく、例えば、ＰＥ（ポリエチレン）、ＰＰ（ポリプロピレン）、ＰＰＳ（ポリフェニレンサルファイド）、ＰＥＥＫ（ポリエーテルエーテルケトン）、ＰＥＩ（ポリエーテルイミド）及びＰＳＵ（ポリスルホン）からなる群から選択される少なくとも一つを含む樹脂材料から形成されているとよい。これにより、比較的柔らかい材料から形成されているジョイントカバー３０の装着性を損なわず、装着後にはトロッカー３２の食い込みによるジョイントカバー３０の変形を抑制できる。 Note that the deformation suppressing member 36 is preferably made of a material with high rigidity and surface sliding properties, such as PE (polyethylene), PP (polypropylene), PPS (polyphenylene sulfide), PEEK (polyetheretherketone), PEI (polyethylene), etc. It is preferable that it is formed from a resin material containing at least one selected from the group consisting of (etherimide) and PSU (polysulfone). Thereby, the fitability of the joint cover 30 made of a relatively soft material is not impaired, and deformation of the joint cover 30 due to biting of the trocar 32 after being fitted can be suppressed.
　（第１の変形例）
　図６は、本実施の形態の第１の変形例に係るカバーの要部を示す縦断面図である。第１の変形例に係るジョイントカバー４８は、第１の被覆部４８ａの後端側の一部の表面４８ｃにコーティング材料が塗布された領域（第２の被覆部４８ｂ）が設けられている。これにより、簡便にジョイントカバー４８の表面の所望の領域に摺動摩擦の低い第２の被覆部４８ｂを形成できる。本実施の形態に係るコーティング材料は、フッ素系コーティング材料又はＤＬＣ（Diamond-Like Carbon）コーティング材料を含有してもよい。これにより、第２の被覆部４８ｂの摺動摩擦を低くできる。なお、第１の被覆部４８ａの裏面側であって、第２の被覆部４８ｂと対向する位置に変形抑制部材３６が設けられていてもよい。 (First modification)
FIG. 6 is a longitudinal cross-sectional view showing essential parts of a cover according to a first modification of the present embodiment. In the joint cover 48 according to the first modification, a region (second covering section 48b) coated with a coating material is provided on a part of the surface 48c on the rear end side of the first covering section 48a. Thereby, the second covering portion 48b with low sliding friction can be easily formed in a desired area on the surface of the joint cover 48. The coating material according to this embodiment may contain a fluorine-based coating material or a DLC (Diamond-Like Carbon) coating material. Thereby, the sliding friction of the second covering portion 48b can be reduced. Note that the deformation suppressing member 36 may be provided on the back side of the first covering part 48a at a position facing the second covering part 48b.
　（第２の変形例）
　図７は、本実施の形態の第２の変形例に係るカバーの要部を示す縦断面図である。第２の変形例に係るジョイントカバー５２は、第１の被覆部５２ａの表面５２ｃの一部に摺動性が向上する後処理が施された領域（第２の被覆部５２ｂ）が設けられている。後処理とは、例えば、熱的又は化学的に表面の平滑性をあげる（表面粗さＲａを小さくする）処理である。これにより、二つの部品や材料を組み合わせることなく、第１の被覆部５２ａを準備するだけで、第１の被覆部５２ａと機能や組成が異なる第２の被覆部５２ｂを形成できる。ここで、熱的な処理とは、焼き入れや焼成といった処理を含む。また、化学的な処理とは、ジョイントカバーを構成する材料の組成を変えるために、所定雰囲気（所定元素を多く含むガス雰囲気）に曝す処理や薬品を塗布する処理を含む。また、第２の被覆部３０ｂの表面の平滑性をあげる他の方法としては、ジョイントカバー３０を金型で成形する際に用いる金型表面を平滑にする方法が挙げられる。金型表面の表面粗さＲａは６．３μｍ以下であるとよい。 (Second modification)
FIG. 7 is a longitudinal cross-sectional view showing essential parts of a cover according to a second modification of the present embodiment. In the joint cover 52 according to the second modification, a region (second covering part 52b) is provided on a part of the surface 52c of the first covering part 52a, which is subjected to a post-treatment to improve sliding properties. There is. The post-treatment is, for example, a treatment for thermally or chemically increasing the surface smoothness (reducing the surface roughness Ra). Thereby, the second covering part 52b having a different function and composition from the first covering part 52a can be formed by simply preparing the first covering part 52a without combining two parts or materials. Here, the thermal treatment includes treatments such as hardening and baking. Further, the chemical treatment includes a treatment of exposing the material to a predetermined atmosphere (a gas atmosphere containing a large amount of a predetermined element) and a treatment of applying a chemical in order to change the composition of the material constituting the joint cover. Another method for increasing the smoothness of the surface of the second covering portion 30b includes a method of smoothing the surface of a mold used when molding the joint cover 30 with a mold. The surface roughness Ra of the mold surface is preferably 6.3 μm or less.
　以上、本発明を上述の実施の形態を参照して説明したが、本発明は上述の実施の形態に限定されるものではなく、実施の形態の構成を適宜組み合わせたものや置換したものについても本発明に含まれるものである。また、当業者の知識に基づいて実施の形態における組合せや処理の順番を適宜組み替えることや各種の設計変更等の変形を実施の形態に対して加えることも可能であり、そのような変形が加えられた実施の形態も本発明の範囲に含まれうる。 Although the present invention has been described above with reference to the above-described embodiments, the present invention is not limited to the above-described embodiments, and may also be applied to combinations or substitutions of the configurations of the embodiments as appropriate. It is included in the present invention. Furthermore, it is possible to appropriately rearrange the combinations and order of processing in the embodiments based on the knowledge of those skilled in the art, and to make various modifications to the embodiments, such as various design changes. Such embodiments may also be included within the scope of the present invention.
　本発明は、鉗子装置からカバーが抜けにくくなる。 The present invention makes it difficult for the cover to come off from the forceps device.
　１０　鉗子装置、　１２ａ　把持部、　１４　支持体、　１６　第１の回転軸、　１８　ベース部品、　２６　ベースキャップ、　２６ａ　凹部、　２６ｂ　貫通孔、　２６ｃ　段差、　２８　パイプ、　２８ａ　端面、　３０　ジョイントカバー、　３０ａ　第１の被覆部、　３０ｂ　第２の被覆部、　３１　先端部、　３２　トロッカー、　３２ａ　端部、　３８　第２の回転軸。 10 Forceps device, 12a gripping part, 14 support body, 16 first rotating shaft, 18 base part, 26 base cap, 26a recess, 26b through hole, 26c step, 28 pipe, 2 8a end face, 30 joint cover, 30a first covering part, 30b second covering part, 31 tip part, 32 trocar, 32a end part, 38 second rotating shaft.

Claims (7)

  1. 　対象の処置を行う処置部を有する鉗子装置に装着される筒状のカバーであって、
    　前記処置部を含む先端部を覆う第１の被覆部と、
    　前記先端部より後端側を覆う第２の被覆部と、を有し、
    　前記第２の被覆部は、前記第１の被覆部と比較して、鉗子装置を挿抜する際にトロッカーに引っかかった場合に該トロッカーとの摺動摩擦が低い構成であることを特徴とするカバー。     A cylindrical cover attached to a forceps device having a treatment section for treating a target,
    a first covering portion that covers the distal end portion including the treatment portion;
    a second covering part that covers the rear end side from the tip part,
    The cover is characterized in that, compared to the first covering part, the second covering part has a structure that has a lower sliding friction with the trocar when the forceps device is caught on the trocar when inserting and removing the forceps device.
  2. 　前記第２の被覆部は、カバー表面の一部にコーティング材料が塗布された領域であることを特徴とする請求項１に記載のカバー。 The cover according to claim 1, wherein the second covering portion is an area where a coating material is applied to a part of the cover surface.
  3. 　前記コーティング材料は、フッ素系コーティング材料又はＤＬＣ（Diamond-Like Carbon）コーティング材料を含有することを特徴とする請求項２に記載のカバー。 The cover according to claim 2, wherein the coating material contains a fluorine-based coating material or a DLC (Diamond-Like Carbon) coating material.
  4. 　前記第２の被覆部は、表面粗さＲａが６．３μｍ以下であることを特徴とする請求項１乃至３のいずれか１項に記載のカバー。 The cover according to any one of claims 1 to 3, wherein the second covering portion has a surface roughness Ra of 6.3 μm or less.
  5. 　前記第２の被覆部は、ポリウレタン、シリコーンゴム、エチレンゴム、フッ素ゴム、ニトリルゴム、天然ゴム、ブチルゴム及びセラミックスウレタンからなる群より選択される少なくとも一つを含有することを特徴とする請求項１に記載のカバー。 Claim 1, wherein the second covering portion contains at least one selected from the group consisting of polyurethane, silicone rubber, ethylene rubber, fluororubber, nitrile rubber, natural rubber, butyl rubber, and ceramic urethane. Cover as described.
  6. 　対象の処置を行う処置部を有する先端部と、
    　前記先端部と接続される柱状部品と、
    　前記柱状部品の、前記先端部と接続される側と反対側に接続されるパイプと、
    　前記先端部から前記柱状部品にかけて装着される請求項１乃至５のいずれか１項に記載のカバーと、
    　を備えることを特徴とする鉗子装置。     a distal end portion having a treatment section for treating a target;
    a columnar component connected to the tip;
    a pipe connected to a side of the columnar component opposite to the side connected to the tip;
    The cover according to any one of claims 1 to 5, which is attached from the tip end to the columnar component;
    A forceps device comprising:
  7. 　前記先端部は、処置部が動作するための関節部を有し、
    　前記関節部は、前記第２の被覆部で覆われていないことを特徴とする請求項６に記載の鉗子装置。     The distal end portion has a joint portion for operating the treatment portion,
    The forceps device according to claim 6, wherein the joint portion is not covered with the second covering portion.
PCT/JP2022/013609 2022-03-23 2022-03-23 Cover and forceps device WO2023181200A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012070953A (en) * 2010-09-29 2012-04-12 Terumo Corp Insulating cover and surgical treatment instrument
JP2013530771A (en) * 2010-07-09 2013-08-01 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Electrosurgical tool cover
US20190314108A1 (en) * 2018-04-17 2019-10-17 Ethicon Llc Protection Measures for Robotic Electrosurgical Instruments
US20200187974A1 (en) * 2015-08-20 2020-06-18 Boston Scientific Scimed, Inc. Medical device and related methods
CN211911678U (en) * 2020-01-07 2020-11-13 深圳市精锋医疗科技有限公司 Protective sleeve, surgical instrument and surgical instrument assembly

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013530771A (en) * 2010-07-09 2013-08-01 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Electrosurgical tool cover
JP2012070953A (en) * 2010-09-29 2012-04-12 Terumo Corp Insulating cover and surgical treatment instrument
US20200187974A1 (en) * 2015-08-20 2020-06-18 Boston Scientific Scimed, Inc. Medical device and related methods
US20190314108A1 (en) * 2018-04-17 2019-10-17 Ethicon Llc Protection Measures for Robotic Electrosurgical Instruments
CN211911678U (en) * 2020-01-07 2020-11-13 深圳市精锋医疗科技有限公司 Protective sleeve, surgical instrument and surgical instrument assembly

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