WO2023181201A1 - 鉗子装置 - Google Patents

鉗子装置 Download PDF

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Publication number
WO2023181201A1
WO2023181201A1 PCT/JP2022/013610 JP2022013610W WO2023181201A1 WO 2023181201 A1 WO2023181201 A1 WO 2023181201A1 JP 2022013610 W JP2022013610 W JP 2022013610W WO 2023181201 A1 WO2023181201 A1 WO 2023181201A1
Authority
WO
WIPO (PCT)
Prior art keywords
forceps device
trocar
pipe
diameter
joint cover
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/013610
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
一樹 秋吉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Riverfield Inc
Original Assignee
Riverfield Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Riverfield Inc filed Critical Riverfield Inc
Priority to JP2023567090A priority Critical patent/JP7451002B2/ja
Priority to CN202280089145.6A priority patent/CN118695817A/zh
Priority to PCT/JP2022/013610 priority patent/WO2023181201A1/ja
Priority to EP22933343.0A priority patent/EP4497400A4/en
Publication of WO2023181201A1 publication Critical patent/WO2023181201A1/ja
Priority to US18/890,956 priority patent/US20250009377A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • 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
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A61B46/13—Surgical drapes specially adapted for instruments, e.g. microscopes the drapes entering the patient's body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/40—Drape material, e.g. laminates; Manufacture thereof

Definitions

  • the present invention relates to 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 surgical instrument cover is made of an insulating material.
  • 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 a surgical instrument through the trocar, the cover may get caught on the end of the trocar. Therefore, in some cases, the cover may come off or be displaced from the surgical treatment instrument. For example, if the cover becomes misaligned with the surgical instrument, insulation performance will be affected.
  • 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 or shift from the forceps device.
  • a forceps device includes a distal end section having a treatment section for treating a target, a columnar component connected to the distal end section, and a columnar component connected to the distal end section of the columnar component.
  • a pipe connected to the side opposite to the opposite side, a cover attached from the tip to the columnar component, and an enlarged diameter portion having a diameter larger than the diameter of the end surface on the pipe side of the cover attached to the columnar component. Be prepared. The enlarged diameter portion is provided at a position covering the end surface.
  • the end of the trocar is less likely to get caught on the end surface of the cover. Further, even if the end of the trocar comes into contact with the cover, the contact position can be moved from the end face of the cover to the tip side.
  • the enlarged diameter portion may have a taper in which the diameter decreases from the columnar component side toward the pipe side. This makes it difficult for the end of the trocar to get caught on the end surface of the cover when pulling out the forceps device inserted into the trocar. Further, when the forceps device inserted into the trocar is removed, the angle between the axis of the trocar and the axis of the forceps device becomes an acute angle.
  • the diameter of the tapered end on the pipe side is smaller than the diameter of the pipe. This makes it difficult for the end of the trocar to get caught on the pipe-side end of the enlarged diameter portion when the forceps device inserted into the trocar is pulled out.
  • the enlarged diameter portion may be provided on a columnar component or a pipe. This makes it difficult for the end of the trocar to get caught on the end surface of the cover near the area between the columnar component and the pipe.
  • the diameter of the enlarged diameter portion on the columnar component side is smaller than the inner diameter of the trocar into which the forceps device is inserted. This allows the forceps device to be inserted into the trocar.
  • the columnar component may have a through hole through which the wire passes.
  • 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. 3 is an enlarged view of the vicinity of the enlarged diameter portion of the forceps device according to the present embodiment.
  • FIG. 7 is a schematic diagram for explaining the difference in deflection depending on the position where the end of the trocar contacts the joint cover.
  • 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.
  • the joint cover 30 may be configured to cover part of the gripping parts 12a and 12b in addition to the support body 14.
  • 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).
  • the material of the joint cover 30 is, for example, butyl rubber, silicone rubber, or polyethylene, but is not limited to these.
  • 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 concave portion 26a of the base cap 26 is reduced, and the friction is reduced, making it easier for the joint cover 30 to shift relative to the base cap 26.
  • the forceps device 10 is provided with an enlarged diameter section (large diameter section) having a diameter larger than the diameters of the pipe 28 and the base cap 26.
  • FIG. 3 is an enlarged view of the vicinity of the enlarged diameter portion of the forceps device according to the present embodiment.
  • the enlarged diameter portion 34 has a diameter d2 larger than the diameter d1 of the pipe-side end surface 30a of the joint cover 30 attached to the base cap 26.
  • the diameter d1 according to this embodiment is in the range of 4.0 to 15.0 mm (preferably in the range of 8.7 ⁇ 1.5 mm), and the diameter d2 is in the range of 4.1 to 15.1 mm (preferably in the range of 9.6 mm). (within a range of ⁇ 1.5mm).
  • the enlarged diameter portion 34 is provided at a position covering the end surface 30a. In other words, the enlarged diameter portion 34 provided at a position covering the end surface 30a can hide the end surface 30a when viewed from the end 32a of the trocar 32 when the forceps device 10 inserted into the trocar 32 is pulled out.
  • the expanded diameter portion 34 provided in this way makes it difficult for the end 32a of the trocar 32 to get caught on the end surface 30a of the joint cover 30 when the forceps device 10 inserted into the trocar 32 is removed or inserted.
  • the enlarged diameter portion 34 has a taper 34a whose diameter decreases from the base cap 26 side to the pipe 28 side.
  • FIG. 4 is a schematic diagram for explaining the difference in deflection depending on the position where the end of the trocar contacts the joint cover.
  • the distance of the contact point X1 from the reference position S on the distal end side is L1
  • the distance of the contact point X2 from the reference position S on the distal end side is L2 (L2>L1).
  • the rigidity of the joint cover 30 is lower at the contact point X2.
  • the joint cover 30 becomes difficult to come off from the base cap 26 due to the static frictional force of the portion A1.
  • the diameter d3 of the pipe-side end 34b of the taper 34a is smaller than the diameter d4 of the pipe 28.
  • the diameter d3 according to this embodiment is in the range of 3.9 to 14.9 mm (preferably in the range of 8.0 ⁇ 1.5 mm), and the diameter d4 is in the range of 4.0 to 15.0 mm (preferably in the range of 8.4 mm). (within a range of ⁇ 1.5mm).
  • the enlarged diameter portion 34 may be provided on the forceps device 10 as part of the base cap 26, as a part of the pipe, or as an independent component. This makes it difficult for the end 32a of the trocar 32 to get caught on the end surface 30a of the joint cover 30 near the area between the base cap 26 and the pipe 28.
  • the diameter d2 of the enlarged diameter portion 34 on the base cap 26 side is smaller than the inner diameter d5 of the trocar into which the forceps device 10 is inserted. Thereby, the forceps device 10 can be inserted into the trocar 32.
  • the inner diameter d5 according to the present embodiment is set in the range of 5.0 to 15.0 mm (preferably in the range of 10 to 15 mm), and the diameter d2 of the enlarged diameter portion 34 is 99% of the inner diameter d5 of the trocar 32. % or less.
  • the effective length L2 of the trocar 32 is set in the range of 30 to 200 mm (preferably in the range of 30 to 100 mm).
  • the diameter d2 is too large, the change in the posture of the forceps device 10 with respect to the trocar 32 will be small.
  • the diameter d2 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.
  • the contact position P becomes closer to the end surface 30a of the joint cover 30. Therefore, it is preferable to set the position where the enlarged diameter portion 34 is provided and the size of the diameter d2 so that the inclination ⁇ is an acute angle with respect to the trocar 32 into which the forceps device 10 is inserted and removed.
  • the enlarged diameter portion 34 allows the position where the end portion 32a of the trocar 32 contacts the joint cover 30 to be shifted toward the distal end side relative to the end surface 30a of the joint cover 30. As a result, even if the trocar 32 comes into contact with the joint cover 30, it will come into contact with the tip side position X1, which has higher rigidity, than with the lower rigidity position X2 (see FIG. 4) near the end surface 30a of the joint cover 30. Therefore, the bending of the joint cover 30 can be suppressed.
  • 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 treatment portions, are opened, closed, rotated, and the like.
  • the length L1 of the recess 26a provided on the pipe 28 side of the base cap 26 is in the range of 7.0 ⁇ 3 mm
  • the diameter d6 of the small diameter portion of the recess 26a is in the range of 3.0 to 11.9 mm. (preferably in the range of 7.2 ⁇ 1.5 mm).
  • the diameter d7 of the large diameter portion of the base cap 26 is set in the range of 3.1 to 12.0 mm (preferably in the range of 7.8 ⁇ 1.5 mm).
  • the diameter d2 of the enlarged diameter portion 34 is preferably set so that the contact position P where the end portion 32a of the trocar 32 butts against the joint cover 30 is located closer to the tip than the recessed portion 26a of the base cap 26. In this case, a part of the joint cover 30 that is fitted into the recess 26a located closer to the pipe 28 than the contact position P gets caught on the step, making it even more difficult for the joint cover 30 to come off from the base cap 26.
  • the expanded diameter portion 34 may be a 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 forceps device in which the annular recess 26a is formed on the outer circumference of the base cap 26 has been described as an example, but the recess 26a is not formed, that is, there is a step corresponding to the side wall of the recess 26a. There may be no forceps device.
  • 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 also 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 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.
  • 10 forceps device 12a, 12b gripping part, 14 support body, 16 first rotating shaft, 18 base part, 20 jaw pulley, 22 wire, 24 wire, 26 base cap, 26a recess, 26b through hole, 28 pipe, 30 joint Cover, 30a end face, 31 tip, 32 trocar, 32a end, 34 enlarged diameter part, 34a taper, 34b end.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
PCT/JP2022/013610 2022-03-23 2022-03-23 鉗子装置 Ceased WO2023181201A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2023567090A JP7451002B2 (ja) 2022-03-23 2022-03-23 鉗子装置
CN202280089145.6A CN118695817A (zh) 2022-03-23 2022-03-23 镊子装置
PCT/JP2022/013610 WO2023181201A1 (ja) 2022-03-23 2022-03-23 鉗子装置
EP22933343.0A EP4497400A4 (en) 2022-03-23 2022-03-23 CLAMP DEVICE
US18/890,956 US20250009377A1 (en) 2022-03-23 2024-09-20 Forceps device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/013610 WO2023181201A1 (ja) 2022-03-23 2022-03-23 鉗子装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/890,956 Continuation US20250009377A1 (en) 2022-03-23 2024-09-20 Forceps device

Publications (1)

Publication Number Publication Date
WO2023181201A1 true WO2023181201A1 (ja) 2023-09-28

Family

ID=88100519

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/013610 Ceased WO2023181201A1 (ja) 2022-03-23 2022-03-23 鉗子装置

Country Status (5)

Country Link
US (1) US20250009377A1 (https=)
EP (1) EP4497400A4 (https=)
JP (1) JP7451002B2 (https=)
CN (1) CN118695817A (https=)
WO (1) WO2023181201A1 (https=)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03146047A (ja) * 1989-11-01 1991-06-21 Olympus Optical Co Ltd 超音波治療装置
WO2015023865A1 (en) * 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Reusable surgical instrument with single-use tip and integrated tip cover
US20190314107A1 (en) * 2018-04-17 2019-10-17 Ethicon Llc Protection Measures for Robotic Electrosurgical Instruments
JP2019195402A (ja) 2018-05-08 2019-11-14 リバーフィールド株式会社 外科処置具用カバー

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113995517B (zh) * 2021-10-09 2026-01-06 深圳市精锋医疗科技股份有限公司 护套、手术器械、从操作设备及手术机器人

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03146047A (ja) * 1989-11-01 1991-06-21 Olympus Optical Co Ltd 超音波治療装置
WO2015023865A1 (en) * 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Reusable surgical instrument with single-use tip and integrated tip cover
US20190314107A1 (en) * 2018-04-17 2019-10-17 Ethicon Llc Protection Measures for Robotic Electrosurgical Instruments
JP2019195402A (ja) 2018-05-08 2019-11-14 リバーフィールド株式会社 外科処置具用カバー

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4497400A4

Also Published As

Publication number Publication date
JP7451002B2 (ja) 2024-03-18
CN118695817A (zh) 2024-09-24
JPWO2023181201A1 (https=) 2023-09-28
US20250009377A1 (en) 2025-01-09
EP4497400A4 (en) 2025-04-23
EP4497400A1 (en) 2025-01-29

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