Surgical instruments

Abstract

The present invention provides a surgical instrument with high safety that can freely move the head through simple hand operation of the operator and has a reduced number of parts. The surgical instrument has a tool head in the distal part and a first operating part and a second operating part in the proximal part. The tool head has a movable part and a base part, and has a first connecting structure and a second connecting structure. The first connecting structure has: a first conversion mechanism; a first rotating shaft; a universal joint, which is equipped at the distal end of the first rotating shaft; a second conversion mechanism; and a crank, which is equipped at the distal end of the second conversion mechanism and connected to the proximal end of the movable part. The second connecting structure has: a cylindrical rotating shaft, which has a pinion formed at the distal part; and a rack base part, which has a rack on the upper surface, the rack meshing with the pinion and formed in a roughly semicircular shape, and the intersection of the axes of the two pivots of the universal joint is located on the axis of the rotation axis of the rack.

Description

Technical Field

[0001] The present invention relates to surgical instruments used for minimally invasive surgeries such as laparoscopic surgeries. Background Art

[0002] In surgical instruments used in minimally invasive surgeries such as laparoscopic surgery, the head mounted on the front end of the surgical instrument is required to have a high degree of freedom. For these surgical instruments, the operator who performs surgery on the patient (surgical object) must hold a portion of the surgical instrument inserted into the body to operate the head, so the operator's hand must be easy to operate and the head must be able to move slightly.

[0003] In order to realize the fine movement of the head, it is necessary to reliably transmit the movement to the side where the head is located (distal side away from the operator) by simple hand operation of the operating side of the surgical instrument (proximal side close to the operator).

[0004] The invention described in Patent Document 1 relates to a surgical instrument used for laparoscopic surgery, etc. The surgical instrument is roughly divided into tool heads 1 and 2 , a central system 3 , a main body 5 , and a proximal handle 4 from the distal side.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: International Publication No. 2016 / 162883 Summary of the invention

[0008] Problems to be solved by the invention

[0009] In the surgical instrument described in Patent Document 1, if the tool head at the front end is freely moved in a lateral direction or the like by the operator's hand operation, for example, if the tool head has a scissors function, internal body tissue can be excised.

[0010] In the surgical instrument described in Patent Document 1, the function of converting the operator's hand operation into the movement of the tool head is mainly undertaken by the central system 3. In order to assemble the central system 3, many parts are required, such as the third outer shaft 3a, the second intermediate shaft 3b, the central rod 3c, the universal joint 3d, the rigid slider 3e, the cylinder 3f, the rear rotating ring 3g, the rigid connecting rods 3h and 3i, the front cover 2a, the rigid cylindrical rod 2b, and the front rotating ring 2c.

[0011] Surgical instruments are used very close to the surgical area in the patient's body and are used during a limited time. Therefore, they cannot fail during surgery and must be strong. If a part of the surgical instrument falls into the surgical area, it is necessary to find and remove the part, which becomes a big problem. The functionality of the tool head that can move the front end freely and the safety of the surgical instrument have such contradictory aspects.

[0012] The present invention is completed in view of the above-mentioned problems, and its purpose is to provide a surgical instrument for minimally invasive surgery such as laparoscopic surgery, which can move the head freely through simple manual operation of the operator, reduces the number of parts, and has high safety.

[0013] Means for solving problems

[0014] The present invention (1) is made to solve the above-mentioned problems. It is a surgical instrument, which has a tool head with longitudinal and lateral freedom at the distal part, and has a first operating part for operating the longitudinal freedom of the tool head and a second operating part for operating the lateral freedom at the proximal part. The surgical instrument is characterized in that the tool head has: a movable part, which has longitudinal freedom; and a base part, which determines the lateral direction of the tool head, the movable part and the first operating part are connected by a first connecting structure, and the base part and the second operating part are connected by a second connecting structure, and the first connecting structure has: a first conversion mechanism, which converts the linear motion of the first operating part into rotational motion; a first rotating shaft, It rotates through the first conversion mechanism; a universal joint, which is equipped at the distal end of the first rotating shaft; a second conversion mechanism, which is connected to the universal joint, converts rotational motion into linear motion; and a crank, which is equipped at the distal end of the second conversion mechanism and is connected to the proximal end of the above-mentioned movable part, the above-mentioned second connection structure has: a cylindrical rotating shaft, which transmits the rotational motion of the above-mentioned second operating part, coaxially encloses the above-mentioned first rotating shaft, and a pinion is formed at the distal part; and a rack base part, which is equipped with a rack on the upper surface and is connected to the above-mentioned base part, the above-mentioned rack is meshed with the above-mentioned pinion and is formed in a roughly semicircular shape, and the intersection of the axes of the two pivots of the above-mentioned universal joint is located on the axis of the swing axis of the above-mentioned rack.

[0015] The surgical instrument includes two operating parts, namely, a first operating part and a second operating part, as operating parts operated by an operator. The first operating part is used to move the movable part in the longitudinal direction, and the second operating part is used to move the base part in the lateral direction.

[0016] The invention is provided with a first connection structure connecting a first operating part and a tool head, and a second connection structure connecting a second operating part and the tool head. The first connection structure has: a first conversion mechanism that converts the linear motion of the first operating part into a rotational motion; a first rotating shaft that rotates through the first conversion mechanism; a universal joint that is provided at the distal end of the first rotating shaft; a second conversion mechanism that is connected to the universal joint and converts the rotational motion into a linear motion; and a crank that is provided at the distal end of the second conversion mechanism and is connected to the proximal end of the movable part. The operation of the first operating part is transmitted to the tool head through the first connection structure.

[0017] The second connecting structure has: a cylindrical shaft that transmits the rotational motion of the second operating part, coaxially wraps the first rotating shaft, and has a pinion formed at the distal part; and a rack base part that has a rack on the upper surface, the rack meshing with the pinion and formed in a substantially semicircular shape. The operation of the second operating part is transmitted to the tool head through the second connecting structure.

[0018] In the present invention (1), the intersection of the axes of the two pivots of the universal joint is arranged on the axis of the swing axis of the rack, so even if the orientation of the base portion connected to the rack base portion is changed laterally at a certain angle by the operation of the second operating portion, the movable portion can move laterally at the same angle, and can change its orientation longitudinally by the operation of the first operating portion. According to this structure, a surgical instrument with high safety can be provided, in which the tool head can be freely moved by simple hand operation, and the number of parts is reduced.

[0019] The present invention (2) is a surgical instrument according to the present invention (1), characterized in that the first conversion mechanism has a first tubular body through which the first rotating shaft passes, a first spiral groove is formed on the side of the first tubular body, a first sliding member guided by the first spiral groove and sliding is formed on the first rotating shaft, a first tubular body engaging portion is formed on the outer surface of the first tubular body, the first tubular body engaging portion is engaged with the first operating portion to transmit the linear motion of the first operating portion to the first tubular body, and when the first operating portion is moved, the first tubular body performs linear motion, and the first sliding member is guided by the first spiral groove, thereby rotating the first rotating shaft.

[0020] In the present invention (2), by combining a first cylindrical body having a first spiral groove and a first rotating shaft having a first sliding member, the linear motion of the first operating part is converted into the rotational motion of the first rotating shaft, so that the first rotating shaft can be rotated by moving the first operating part with a simple structure.

[0021] The present invention (3) is a surgical instrument according to the present invention (1) or (2), characterized in that the second conversion mechanism has a second cylindrical body connected to the universal joint and rotates, a second spiral groove is formed on the side of the second cylindrical body, and a second rotating shaft connected to the proximal end of the crank is provided, and a second sliding member guided by the second spiral groove and slides is formed on the second rotating shaft. When the second cylindrical body rotates, the second sliding member is guided by the second spiral groove, so that the second rotating shaft moves linearly.

[0022] In the present invention (3), by combining a second cylindrical body having a second spiral groove and a second rotating shaft having a second sliding member, the rotational motion of the first rotating shaft is converted into the linear motion of the second rotating shaft. Therefore, the second rotating shaft can be moved linearly by moving the first operating part with a simple structure, and the movement can be transmitted to the crank to move the movable part.

[0023] The present invention (4) is a surgical instrument according to any one of the present inventions (1) to (3), which has a forceps function for grasping biological tissues through the movable portion and the base portion of the tool head.

[0024] The surgical instrument of any one of the present inventions (1) to (3) can be applied to surgical instruments having various functions. The present invention (4) is one of them. The tool head has the function of a so-called biological forceps. Only by making the shape of the movable part of the tool head and the shape of the base part into a shape suitable for grasping a part of the tissue in the body, it can have a safe and high degree of freedom biological forceps function.

[0025] The present invention (5) is a surgical instrument according to any one of the present inventions (1) to (3), which has a scissors function for cutting biological tissues by the movable portion and the base portion of the tool head.

[0026] The present invention (5) provides the tool head with a so-called scissor function. By making the shape of the movable part and the base part of the tool head suitable for cutting a part of the body tissue, the tool head can have a safe and highly flexible scissor function.

[0027] The present invention (6) is the surgical instrument according to any one of the present inventions (1) to (3), which has an endoscopy function in which a camera inside the endoscope is mounted on the movable portion of the tool head.

[0028] The surgical instrument of the present invention (6) has a camera mounted on the movable portion of the tool head, and can function as an endoscope that can freely change its orientation in both the horizontal and vertical directions.

[0029] Effects of the Invention

[0030] According to the present invention, a surgical instrument for minimally invasive surgery such as laparoscopic surgery can be provided, which can freely move the head portion through a simple manual operation by the operator, reduces the number of parts, and has high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a perspective view showing the entirety of the surgical instrument having a biopsy forceps function according to the first embodiment of the present invention.

[0032] Figure 2 This is a perspective view showing a portion of the interior of the surgical instrument of Example 1.

[0033] Figure 3 This is a perspective view showing an enlarged state of the first conversion mechanism portion and the vicinity of the surgical instrument of Example 1.

[0034] Figure 4 It is a stereoscopic view showing the second conversion mechanism portion of the surgical instrument of Example 1 and its surrounding portion.

[0035] Figure 5 It is a perspective view showing the second conversion mechanism portion of the surgical instrument of Example 1 and its surrounding portion, and is a perspective view with an outer sleeve installed.

[0036] Figure 6 It is a perspective view showing the second conversion mechanism portion of the surgical instrument of Example 1 and its surrounding portion, and is a perspective view when the second rotation axis is positioned to the left.

[0037] Figure 7 It is a schematic diagram showing the movement of the second conversion mechanism portion and its peripheral portion and the movable portion.

[0038] Figure 8 It is a perspective view showing the second connection structure of the surgical instrument of Example 1 and its surrounding parts.

[0039] Fig. 9 It is an enlarged perspective view showing the pinion and rack portion of the second connection structure of the surgical instrument of Example 1 and their surrounding portions.

[0040] Fig.10 This is a perspective view of a tool head portion of a surgical instrument having a biopsy forceps function and its surrounding portion according to a first embodiment of the present invention. DETAILED DESCRIPTION

[0041] Hereinafter, embodiments of the present invention will be described in detail based on the drawings. Note that the following embodiments are essentially preferred examples and are not intended to limit the scope of the present invention, its applications, or its uses.

[0042] Figure 1This is a perspective view of a surgical instrument 1 having a biopsy forceps function according to Embodiment 1 of the present invention, showing a first operating portion 10, a second operating portion 20, a tool head 30, and a cover 90 including a member connecting the two operating portions 10, 20 and the tool head 30. A hole 91 formed in the cover 90 is a hole for easy postoperative cleaning.

[0043] The first operating part 10 is a handle type having an operating movable part 11, a leaf spring 12, and an operating fixed part 13, but the form of the first operating part 10 is not limited to this form. A first conversion mechanism 40A is shown at the upper part of the first operating part 10. The first conversion mechanism 40A rotates the first rotating shaft 41 by moving the first cylindrical body 42 linked to the movement of the first operating part 10 via the first cylindrical body engaging part 44. The first spiral groove 43 plays a role in converting the linear motion into rotational motion. Figure 3 The tool head 30 includes a base portion 32 of the tool head 30 that changes its orientation in the lateral direction relative to the axial direction of the cover 90 and a movable portion 31 of the tool head 30 that changes its orientation in the longitudinal direction.

[0044] Figure 2 Shows Figure 1 The surgical instrument 1 is in a state where the cover 90 is removed. Figure 2 The first connecting structure 50A shown is a connecting structure that connects the first operating part 10 and the movable part 31 of the tool head 30. The second connecting structure 50B is a connecting structure that connects the second operating part 20 and the base part 32 of the tool head 30. The cylindrical rotating shaft 51 transmits the rotation of the second operating part 20 as a rotational motion to the pinion 52 at the front end. The pinion 52 meshes with the rack 54 arranged on the rack base part 53, so that the rack base part 53 rotates. The rack base part 53 and the base part 32 of the tool head 30 are directly connected, so the base part 32 rotates. A plurality of longitudinal grooves 55 are provided in the cylindrical rotating shaft 51, which is used to facilitate the cleaning of the instrument after the operation. The anti-rotation component 21 of the second operating part shown in the figure is a component that stops the rotation so that the second operating part 20 will not rotate accidentally after the second operating part 20 rotates and the operation is completed.

[0045] Figure 3 1 is a perspective view showing a partial state of the first conversion mechanism 40A of the medical device of Example 1 in an enlarged manner. The engaging recess 14 formed on the upper part of the operating movable portion 11 engages with the first cylindrical body engaging portion 44 mounted on the outer surface of the first cylindrical body 42, and the movement of the first operating portion 10 is transmitted to the first cylindrical body 42, and the first cylindrical body 42 moves forward / backward. With this movement, the first slider 45 formed on the first rotating shaft 41 moves along the first spiral groove 43, so that the first rotating shaft 41 rotates.

[0046] use Figures 4 to 6, the movement of the second conversion mechanism 40B will be described. A universal joint 60 is mounted on the front end of the first rotating shaft 41. The universal joint 60 includes a first double fork portion 61, an intermediate body 63, a first pivot 62, and a second pivot 64. The second cylindrical body 65 on the front end side is enclosed in an outer sleeve 71 (see Figure 5 ), the outer sleeve 70 is provided with a second double fork portion 69 connected to the second pivot 64 (refer to Figure 5 ). The protrusion 68 is used to connect the second cylindrical body 65 and the outer sleeve 70, but Figure 4 The outer sleeve 70 is removed, so the first rotating shaft 41 and the tool head 30 are not connected. The protrusion 68 has two upper and lower parts, but it can also be a rod-shaped body.

[0047] A second spiral groove 66 is cut into the second cylindrical body 65, and a second sliding member 69 mounted on a second rotating shaft 67 connected to the proximal end 80a of the crank 80 moves forward / backward guided by the second spiral groove 66 as the second cylindrical body 65 rotates. The forward / backward motion is transmitted to the crank 80, causing the longitudinal direction of the movable portion 31 of the crank 30 to change.

[0048] Figure 5 7 shows a state where the outer sleeve 70 is installed, and the second double fork portion 71 is connected to the second pivot 64. Figure 5 In the state where the second slide member 69 is moved to the nearest side (right side in the figure), the movable portion 31 is in an open state. Figure 6 In the state where the second slide member 69 moves to the farthest side (left side in the figure), the movable part 31 is in a closed state. Figure 4 The status shown is the same.

[0049] Figure 7 The movement of the crank 80 is schematically represented. Figure 7 (A) shows the state of the second sliding member 69 on the proximal side. The L-shaped part 82 is composed of the L-shaped first part 82a and the L-shaped second part 82b, and the L-shaped first part 82a is equivalent to the movable part 31 of the tool head 30. The proximal end of the second rotating shaft 67 and the L-shaped second part 82b is connected by the arm 81, and the second rotating shaft and the arm 81 are rotatably connected with the first shaft 83 as the axis. The arm 81 and the L-shaped second part 82b are rotatably connected with the second shaft 84 as the axis. The third shaft 85 is provided to enable the L-shaped part 82 to rotate with the shaft as the pivot.

[0050] Figure 7 (B) In the embodiment, the second sliding member 69 is rotated from the first rotating shaft 41 to the Figure 7 The position of A moves to the farthest end. Figure 7 (A) and Figure 7(B), the second slide 69 moves from the dotted line position P1 to P2 by the amount of the arrow, and the second shaft 67 is displaced in the axial direction by the same distance as the amount of movement. The second shaft 67 moves to the distal side, the arm 81 changes its direction in the vertical direction, and the L-shaped shape 82 (the movable part 31 of the tool head 30) is displaced in such a way that the first part 82a of the L-shaped shape becomes horizontal. The position P3 of the third shaft 85 is a fixed structure.

[0051] Figure 8 This is a diagram for explaining the movement of the surgical instrument 1 in a state where the first conversion structure 50A and the second conversion structure 50B are combined. When the second operating part 20 is rotated by hand, the pinion 52 mounted on the distal end of the cylindrical shaft 51 rotates, meshing with the rack 54 formed in a substantially semicircular shape on the upper surface of the rack base part 53, causing the rack base part 53 to rotate, and the rack base part 53 is connected to the base part 32 of the tool head 30, thereby changing the orientation of the base part 32.

[0052] By this operation, the universal joint 60 changes the orientation of the movable part 31 with the first pivot 62 as the axis in the same manner as the base part 32. This is because the intersection of the axis center of the first pivot 62 and the axis center of the second pivot 64 is located at the axis center of the rotation axis of the rack base part 53. Thus, in conjunction with the movement of the base part 32 rotating at the same angle as the rotation of the rack base part 53, the movable part 31 also rotates at the same angle, and the movable part 31 can move in the longitudinal direction by the first conversion mechanism 40A.

[0053] Fig. 9 This is a perspective view of the second connection structure 50B as viewed from the proximal side.

[0054] Fig.10 1 is a perspective view showing the distal end of a surgical instrument 1 having a forceps function for grasping biological tissue. The movable portion 31 is an upper grasping portion 31a, and the base portion 32 is a lower grasping portion 32a. By making various changes to the form of the front end portion, a surgical instrument having a scissors function or a surgical instrument having an endoscope function with a camera mounted inside an endoscope can be obtained.

[0055] Availability in production

[0056] As described above, the present invention can provide a surgical instrument used for minimally invasive surgery such as laparoscopic surgery, which can freely move the head through simple manual operation by the operator, reduces the number of parts, and has high safety.

[0057] Explanation of symbols

[0058] 1—surgical instrument, 10—first operating part, 11—operating movable part, 12—leaf spring, 13—operating fixed part, 14—engaging recess, 20—second operating part, 21—second operating part rotation stop member, 30—tool head, 31—movable part, 31a—upper gripping part, 32—base part, 32a—lower gripping part, 40A—first conversion mechanism, 40B—second conversion mechanism, 41—first rotating shaft, 42—first cylindrical body, 43—first spiral groove, 44—first cylindrical body engaging part, 45—first sliding member, 50A—first conversion structure, 50B—second conversion structure, 51— Cylindrical rotating shaft, 52—pinion, 53—rack base, 54—rack, 55—longitudinal groove, 60—universal joint, 61—first double fork portion, 62—first pivot, 63—intermediate body, 64—second pivot, 65—second cylindrical body, 66—second spiral groove, 67—second rotating shaft, 68—protrusion, 69—second sliding member, 70—outer sleeve, 71—second double fork portion, 80—crank, 80a—proximal end, 81—arm, 82—L font, 82a—first part of L font, 82b—second part of L font, 83—first axis, 84—second axis, 85—third axis, 90—cover, 91—hole.

Claims

1. A surgical instrument, comprising a tool head having longitudinal and lateral degrees of freedom at a distal portion, and a first operating portion for operating the longitudinal degree of freedom of the tool head and a second operating portion for operating the lateral degree of freedom at a proximal portion, wherein: The tool head comprises: a movable portion having longitudinal freedom; and a base portion defining a lateral orientation of the tool head. The movable part and the first operating part are connected by a first connecting structure. The base portion and the second operating portion are connected via a second connecting structure. The first connection structure comprises: a first conversion mechanism, which converts the linear motion of the first operating part into a rotational motion; a first rotating shaft, which is rotated by the first conversion mechanism; a universal joint, which is equipped at the distal end of the first rotating shaft; a second conversion mechanism, which is connected to the universal joint and converts the rotational motion into a linear motion; and a crank, which is equipped at the distal end of the second conversion mechanism and connected to the proximal end of the movable part. The second connecting structure comprises: a cylindrical rotating shaft, which transmits the rotational motion of the second operating part, coaxially encloses the first rotating shaft, and has a pinion formed at a distal portion; and a rack base portion, which is equipped with a rack on the upper surface and is connected to the base portion, the rack meshing with the pinion and formed in a substantially semicircular shape, The intersection of the axes of the two pivots of the universal joint is located on the axis of the swing axis of the rack.

2. The surgical instrument according to claim 1, characterized in that: The first conversion mechanism comprises a first cylindrical body through which the first rotating shaft passes, a first spiral groove is formed on the side of the first cylindrical body, a first sliding member guided by the first spiral groove and sliding is formed on the first rotating shaft, and a first cylindrical body engaging portion is formed on the outer surface of the first cylindrical body, the first cylindrical body engaging portion is engaged with the first operating portion to transmit the linear motion of the first operating portion to the first cylindrical body, When the first operating portion is moved, the first cylindrical body performs linear motion, and the first slider is guided by the first spiral groove, so that the first rotating shaft rotates.

3. The surgical instrument according to claim 1 or 2, characterized in that: The second conversion mechanism comprises a second cylindrical body connected to the universal joint and rotatable, a second spiral groove is formed on the side of the second cylindrical body, and a second rotating shaft connected to the proximal end of the crank is provided, and a second sliding member guided by the second spiral groove and sliding is formed on the second rotating shaft. When the second cylindrical body rotates, the second slider is guided by the second spiral groove, so that the second shaft moves linearly.

4. The surgical instrument according to any one of claims 1 to 3, characterized in that: The tool head has a forceps function of holding biological tissue through the movable part and the base part.

5. The surgical instrument according to any one of claims 1 to 3, characterized in that: The tool head has a scissors function of cutting biological tissue through the movable part and the base part.

6. The surgical instrument according to any one of claims 1 to 3, characterized in that: The tool head has an endoscope function in which a camera inside the endoscope is mounted on the movable portion of the tool head.

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