Surgical tool

Abstract

The present disclosure provides a technique for improving the operating performance of a surgical tool having an operating portion, where the operating portion has a slider that moves linearly. The surgical tool includes a slider, a conversion portion, and a transmission cable. The slider is configured to be relatively movable in a linear direction with respect to a main body provided with at least a treatment portion for performing a medical treatment. The conversion portion moves with a converted movement amount, which is a movement amount obtained by converting the movement amount of the slider by a predetermined magnification. The transmission cable transmits the converted movement amount to the treatment portion.

Description

Technical Field

[0001] The present disclosure relates to surgical tools. Background Art

[0002] There are known surgical tools for performing medical procedures such as endoscopic surgery. The surgical tool has, for example, a treatment section disposed at the front end or the like, and an operation section operated by an operator. Further, the operation of the operation section is transmitted to the treatment section via a cable, and thus, the treatment section performs an action corresponding to the operation of the operator (see Patent Document 1).

[0003] Prior Art Documents

[0004] Patent Document Patent Document 1: Japanese Patent Application Laid-Open No. 2016-512961 Summary of the Invention

[0005] Problems to be Solved by the Invention

[0006] In this type of surgical tool, a slider provided in the operation section moves linearly, and the linear movement of the slider is transmitted to the treatment section via a cable or the like. Thus, the treatment section performs an action corresponding to the amount of movement by which the slider is operated.

[0007] However, for example, when the treatment section performs a fine action, in other words, when an action with a small action amount is to be performed, it is necessary to operate the slider corresponding to the action amount. Therefore, it is necessary to perform a fine operation on the slider, resulting in difficulties in operation.

[0008] An object of one aspect of the present disclosure is to provide a technique for improving the operation performance of a surgical tool including an operation section having a slider that moves linearly.

[0009] Technical Solution for Solving the Problems

[0010] One aspect of the present disclosure relates to a surgical tool including a slider, a conversion section, and a transmission cable. The slider is configured to be relatively movable in a linear direction with respect to a main body provided with a treatment section for performing a medical treatment. The conversion section moves with a converted movement amount, which is a movement amount obtained by converting the movement amount of the slider by a predetermined magnification. The transmission cable transmits the converted movement amount to the treatment section.

[0011] According to the above-described structure, the amount of movement of the slider that moves linearly is converted into a specified magnification in the conversion unit. Therefore, the converted movement amount that has been converted by the specified magnification in the conversion unit can be transmitted to the processing unit. Thus, for example, by reducing the specified magnification, the converted movement amount is reduced with respect to the amount of movement of the slider. As a result, since the processing unit performs an operation corresponding to the converted movement amount, it is easy to perform a delicate operation. That is, it is possible to improve the operation performance of the surgical tool including the operation unit, where the operation unit has a slider that moves linearly.

[0012] In addition, in one aspect of the present disclosure, the conversion unit may include a conversion cable and a movable pulley. The first end portion of the conversion cable is attached to the slider, and the second end portion of the conversion cable is attached to the main body. The conversion cable is disposed on the circumferential surface of the movable pulley.

[0013] According to the above-described structure, the amount of movement of the slider can be converted into a specified magnification by the movable pulley and the conversion cable. By providing the movable pulley, it is possible to convert into a specified magnification, and thus, there is no need to separately provide a structure such as a lever, and it is easy to suppress the enlargement of the structure of the surgical tool due to the provision of such a structure as the lever.

[0014] In one aspect of the present disclosure, the conversion unit may be provided on one side and the other side with respect to the moving direction of the slider.

[0015] According to the above-described structure, the converted movement amount after converting the amount of movement of the slider into a specified magnification can be transmitted to the processing unit by the conversion unit provided on one side and the other side with respect to the moving direction of the slider. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a view showing the entire surgical tool.

[0017] Figure 2 is a view showing the structure of the movable part.

[0018] Figure 3 is a view showing the front of the main body.

[0019] Figure 4 is a view showing the back of the main body.

[0020] Figure 5 is a view showing the inside of the front of the main body.

[0021] Figure 6 is a view schematically showing the structure of the conversion unit.

[0022] Explanation of Reference Signs

[0023] 1... surgical tool; 10... processing unit; 11... movable part; 11A, 11B... clamping part;

[0024] 13…Joint part; 13A, 13B…Rotation axes; 20…Main body; 21…Slider;

[0025] 22…Opening part; 23…Movable pulley; 24…Fixed pulley; 25…Transfer cable;

[0026] 27…Conversion cable; 29…Fixing part; O…Central axis Detailed implementation mode

[0027] [1. Structure]

[0028] The surgical tool 1 of the present implementation mode is a medical device used for performing medical acts such as surgeries.

[0029] Refer to Figures 1 to 4 the attached drawings to illustrate the structure of the surgical tool 1.

[0030] As Figure 1 shown, the surgical tool 1 includes a treatment part 10 and a main body 20.

[0031] The treatment part 10 is the part of the surgical tool 1 used for performing the treatment of medical acts. The treatment part 10 is formed, for example, in a long strip shape, and the first end of its long strip shape is connected to the main body 20.

[0032] The treatment part 10 has a movable part 11 at least in a part thereof.

[0033] The movable part 11 is arranged at the front end part of the treatment part 10, that is, at the second end located on the opposite side of the first end where the treatment part 10 is connected to the main body 20. In addition, the position where the movable part 11 is arranged is not limited to the end on the opposite side of the end where the treatment part 10 is connected to the main body 20, and it can also be arranged at a position other than the end in the treatment part 10.

[0034] As Figure 2As shown, the front end portion of the movable part 11 bifurcates into two branches. The movable part 11 is configured to be able to perform the opening and closing actions of the branches, and is configured to be able to adjust the front end portion so that the orientations of the front end portion are two mutually orthogonal directions. That is, the movable part 11 is a part that can be displaced relative to the processing part 10. The movable part 11 can be, for example, a part used as pliers. That is, the movable part 11 can be a part in the processing part 10 used as a gripping part, and the gripping part can grip the part to be processed or a suture needle, etc. Each of the clamping parts 11A and 11B of the movable part 11 that bifurcate into two branches can rotate and displace or swing between a closed position and an open position about the central axis O, where the closed position is the position when the clamping parts 11A and 11B are in a state of approaching each other, and the open position is the position when the clamping parts 11A and 11B are separated from each other. Thus, the movable part 11 can grip the object part, etc.

[0035] Alternatively, the driving force can be transmitted to the bifurcated structure, thereby causing the branches of the movable part 11 to perform the opening and closing actions. In addition, the action of adjusting the orientation of the front end portion can be formed into the following structure: a joint part 13 is provided, and the joint part 13 is configured to rotate in the direction of adjusting the orientation of the front end portion, and the orientation of the front end direction of the movable part 11 can be adjusted by rotating through the joint part 13. The joint part 13 of the movable part 11 can have a first rotation axis 13A along the left-right direction (the x-axis direction described later), and can have a second rotation axis 13B along the up-down direction (the z-axis direction described later). In other words, the joint part 13 can rotate and displace about each rotation axis 13A, 13B as the central axis. In addition, the first rotation axis 13A is a shaft portion orthogonal to the longitudinal direction of the processing part 10. The second rotation axis 13B is a shaft portion orthogonal to the longitudinal direction of the processing part 10 and the first rotation axis 13A.

[0036] The movable part 11 is formed into a structure corresponding to the actions performed by the processing part 10. The movable part 11 is not limited to having the following structure, that is, it has both a structure capable of gripping an object and releasing the gripping of the object, and a structure capable of rotating the front end portion to adjust the orientation of the front end portion. The movable part 11 can have only any one of the structure capable of gripping an object and releasing the gripping of the object, and the structure capable of rotating the front end portion to adjust the orientation of the front end portion, or can also be configured to be able to perform actions different from the above structures.

[0037] The components required for the processing part 10 to perform actions are arranged in the main body 20.

[0038] Such as Figure 3 、 Figure 4 And Figure 5As shown, a plurality of sliders 21, a plurality of openings 22, a plurality of movable pulleys 23, a plurality of transmission cables 25, a plurality of conversion cables 27, and a plurality of fixing parts 29 are arranged in the main body 20.

[0039] In addition, the up-down direction of the main body 20 is denoted as the z-axis direction, the upward direction is denoted as the positive z-axis direction, and the downward direction is denoted as the negative z-axis direction. Further, the long side direction of the rectangular shape of the opening of the main body 20, that is, the longitudinal direction of the processing part 10 connected to the main body 20, is denoted as the y-axis direction, and the direction in which the processing part 10 is located as observed from the main body 20 is denoted as the positive y-axis direction, and the opposite direction is denoted as the negative y-axis direction. In addition, the axis orthogonal to the yz plane is set as the x-axis, the positive z-axis direction is set as the upward direction, and when facing the positive y-axis direction, the left side is denoted as the positive x-axis direction, and the right side is denoted as the negative x-axis direction. Here, the x-axis direction is also denoted as the left-right direction, and the z-axis direction is denoted as the up-down direction. In addition, the surface of the main body 20 observed from the positive z-axis side toward the negative z-axis direction is denoted as the front surface, and the surface of the main body 20 observed from the negative z-axis side toward the positive z-axis direction is denoted as the back surface.

[0040] As Figure 4 shown, the main body 20 has an opening 22 at the back surface, and the opening 22 is a plurality of through holes in a rectangular shape. The number of the rectangular-shaped openings is formed to be the same as the number of the sliders 21. As Figures 3 to 5 shown, in the present embodiment, the number of the sliders 21 provided in the main body 20 is three. Then the number of the openings 22 is also three. In addition, the number of the sliders 21 and the number of the openings are not limited to three, and the number of the sliders 21 and the number of the openings may be more than three or less than three. The opening 22 is arranged such that the long side direction of the rectangular shape is in the orientation along the longitudinal direction of the long strip-shaped processing part 10.

[0041] A plurality of sliders 21 are respectively arranged inside the plurality of openings 22 provided in the main body 20, and are arranged to be respectively movable along the longitudinal direction of the opening 22. Each of the plurality of sliders 21 generates a driving force for displacing the movable part 11 through a reciprocating motion.

[0042] Each of the plurality of sliders 21 is formed in a cuboid shape, and is arranged such that the long side of the cuboid shape is in the orientation along the longitudinal direction of the rectangular shape. At least a part of the surface of each of the plurality of sliders 21 is exposed from the upper surface and the lower surface of the main body 20. In addition, the end of the conversion cable 27 is fixed to each end of the plurality of sliders 21 in the y-axis direction.

[0043] At the end of the conversion cable 27 on the opposite side of the end fixed to the slider 21, a fixing portion 29 fixed to the main body 20 is provided. The fixing portion 29 is fixed to the main body 20. The position where the fixing portion 29 is arranged is not particularly limited. For example, the fixing portion 29 may also be arranged in a region adjacent to the opening portion 22 in the main body 20 and near the center in the x-axis direction.

[0044] A plurality of movable pulleys 23 are arranged such that one movable pulley 23 is provided on one conversion cable 27. The movable pulley 23 is configured such that one conversion cable 27 is arranged on its circumferential surface. And the movable pulley 23 is configured such that there is one slider 21 between two movable pulleys 23. In addition, the movable pulley 23 is arranged such that its rotation axis is along the up-down direction, in other words, along the z-axis direction.

[0045] In addition, the transmission cable 25 is connected to a member that holds the rotation axis of the movable pulley 23. The transmission cable 25 is a cable that transmits the driving force for causing the processing unit 10 or the movable unit 11 to perform an action. However, the transmission cable 25 is not limited to being connected to the member that holds the rotation axis of the movable pulley 23, and may also be directly connected to the rotation axis of the movable pulley 23. In other words, as long as it is configured to be able to transmit the driving force between the processing unit 10, the movable unit 11, and the rotation axis of the movable pulley 23, the transmission of the driving force may be direct transmission or indirect transmission.

[0046] The first end of the transmission cable 25 is mounted at the rotation axis of the movable pulley 23 on the side closer to the processing unit 10. In addition, the second end, which is different from the first end of the transmission cable 25, is mounted at the rotation axis of the movable pulley 23 on the opposite side of the processing unit 10. The transmission cable 25 extends from the movable pulley 23 on the side closer to the processing unit 10 toward the processing unit 10 and the movable unit 11. The transmission cable 25 is folded back at the processing unit 10 and the movable unit 11. The transmission cable 25 folded back at the processing unit 10 and the movable unit 11 is folded back along a fixed pulley 24 fixed to the main body 20. The 25 folded back along the fixed pulley 24 is mounted at the rotation axis of the movable pulley 23 on the opposite side of the processing unit 10 with respect to the slider 21. The displacement of the slider 21 is transmitted to the transmission cable 25 via the movable pulley 23 and the fixed pulley 24.

[0047] A plurality of transmission cables 25 are directly or indirectly connected to the clamping portion 11A and the clamping portion 11B that are bifurcated into two branches, and the joint portion 13. The plurality of transmission cables 25 are not limited to being directly or indirectly connected to the clamping portion 11A and the clamping portion 11B that are bifurcated into two branches, and the joint portion 13. As long as the plurality of transmission cables 25 transmit the driving force for performing an action to the movable unit 11.

[0048] In addition, the transmission cable 25 connected to any one of the plurality of sliders 21 can be connected to the clamping structure, and the transmission cable 25 connected to any one of the plurality of sliders 21 can be disposed on the circumferential surface of a portion that rotates in the joint portion 13 of the movable portion 11, which is a structure for adjusting the direction of the movable portion 11.

[0049] In addition, the movable pulley 23 and the conversion cable 27 of the present embodiment correspond to an example of a structure as a conversion unit.

[0050] [2. Function]

[0051] The operations of the plurality of sliders 21, the plurality of movable pulleys 23, and the plurality of transmission cables 25, and the operation of the movable portion 11 corresponding to the operations will be described below.

[0052] Each of the plurality of sliders 21 performs a linear motion along the longitudinal direction of the rectangular shape inside the plurality of openings 22 by the operation of the operator.

[0053] The conversion cables 27 provided at the ends of the sliders 21 are interlocked with the linear motion of the sliders 21. The interlocked conversion cables 27 each pass over the circumferential surface of the movable pulley 23, whereby the movable pulley 23 moves. Then, the first end of the transmission cable 25 connected to the rotation axis of the movable pulley 23 moves, whereby the driving force is transmitted to the second end of the transmission cable 25 connected to the movable portion 11. The transmission cable 25 moves corresponding to the amount of movement of the linear motion of the slider 21. Hereinafter, the amount of movement of the transmission cable 25 is also denoted as the conversion movement amount.

[0054] The conversion movement amount changes corresponding to the number of movable pulleys 23 that move in response to the movement of the slider 21. Specifically, with respect to the amount of movement of the slider 21, that is, with respect to the operation amount of the operator on the slider 21, when the number of movable pulleys 23 that move is two, as Figure 6 shown, compared with the case where each movable pulley 23 is replaced by a fixed fixed pulley, the amount of movement becomes one-half. In addition, the force for operating the slider 21 becomes a force twice as large and is applied as a driving force to the transmission cable 25.

[0055] Along with the linear motion of the slider 21, the driving force applied to the transmission cable 25 and the conversion movement amount are transmitted to the movable portion 11. The movable portion 11 performs an operation corresponding to the conversion movement amount and the driving force of the transmitted transmission cable 25.

[0056] In the present embodiment, the actions performed by the movable portion 11 corresponding to the conversion movement amount and the driving force of the transmission cable 25 to be transmitted refer to, for example, the clamping action and the clamping release action performed by the clamping portion 11A and the clamping portion 11B, and the rotational action of the joint portion 13. That is, it may be that the transmission cable 25 that directly or indirectly transmits the driving force and the conversion movement amount to the clamping portion 11A and the clamping portion 11B performs an action, so that the clamping portion 11A and the clamping portion 11B approach or separate from each other with the central axis 0 as the center. Thus, the clamping action or the clamping release action is performed. Accordingly, the movable portion 11 is configured to open the clamping structure at the front end portion corresponding to the conversion movement amount.

[0057] In addition, it may be that the transmission cable 25 that directly or indirectly transmits the driving force and the conversion movement amount to the joint portion 13 performs an action. Thus, the joint portion 13 performs a rotational displacement action around the rotation axes 13A and 13B. Therefore, the movable portion 11 may be configured to adjust the orientation of the front end portion corresponding to the conversion movement amount.

[0058] [3. Effects]

[0059] (1) In the present embodiment, through the movable pulley 23 and the conversion cable 27, the movement amount of the linear movement of the slider 21 is converted into a conversion movement amount, and the transmission cable 25 moves corresponding to this conversion movement amount. The movement amount of the transmission cable 25 is transmitted to the movable portion 11, so that the movable portion 11 performs an action corresponding to the movement amount of 25.

[0060] Here, a plurality of movable pulleys 23 that receive the transmission of the movement amount of the slider 21 and a plurality of conversion cables 27 are provided. Thus, the conversion movement amount of the transmission cable 25 relative to the slider 21 is small, and the conversion movement amount transmitted to the movable portion 11 is also small.

[0061] As a result, since the movable portion 11 of the processing unit 10 performs an action corresponding to the conversion movement amount, it is easy to perform a fine operation. That is, the operation performance in the surgical tool 1 having the operation portion can be improved, where the operation portion has a slider 21 that performs a linear movement.

[0062] (2) In addition, by changing the number of movable pulleys 23 and the number of conversion cables 27, the conversion movement amount of the transmission cable 25 corresponding to the movement amount of the linear movement of the slider 21 can be changed. That is, by changing the number of fixed pulleys replaced with the movable pulley 23 among the fixed pulleys, the conversion movement amount of the transmission cable 25 corresponding to the movement amount of the slider 21 can be changed. Therefore, for example, there is no need to configure a structure such as a lever to convert the movement amount of the transmission cable 25. Compared with the case having a structure such as a lever, the size increase of the main body 20 can be suppressed.

[0063] [Modifications of the Embodiment]

[0064] (1) In the above embodiment, the number of sliders 21 is plural. However, the number of sliders 21 is not limited to plural and may be one.

[0065] (2) Further, in the above embodiment, an example in which two movable pulleys 23 move relative to one slider 21 is described. However, the number of movable pulleys 23 that move relative to the slider 21 is not limited to two. For example, the number of movable pulleys 23 that move relative to the slider 21 may be more than two or less than two.

[0066] Here, as the number of movable pulleys 23 that move increases with respect to the number of sliders 21, the respective movement amounts of the movable pulleys 23 corresponding to the movement amount of the slider 21 become smaller. Thereby, the operation amount can be adjusted such that the movement amount of the movable part 11 corresponding to the operation amount of the slider 21 is adjusted by adjusting the number of movable pulleys 23 connected to the slider 21.

[0067] (3) Each of the plurality of transmission cables 25 may also be connected to different parts of the movable part 11.

[0068] Moreover, the movable part 11 can perform different actions corresponding to the movement of each transmission cable 25 connected to different parts by the movement of each transmission cable 25.

[0069] Specifically, for example, it may be configured as follows: two clamping parts sandwiching the yz plane and the xy plane are configured, and the transmission cables 25 for transmitting driving force are respectively connected to the two clamping parts, whereby the directions of performing the clamping action and the clamping release action are different.

[0070] In addition, the action of the movable part 11 is not limited to the clamping action, and it may be configured to perform a rotational action so as to be able to adjust the orientation of the front end part of the movable part 11.

[0071] In addition, the clamping action may be performed by operating any one of the sliders 21 corresponding to the plurality of transmission cables 25, and the rotational action of the front end may be performed by operating any one of the sliders 21.

[0072] (4) In the above embodiment, the plurality of movable pulleys 23 move corresponding to the movement of their respective corresponding sliders 21. However, the plurality of movable pulleys 23 are not limited to moving corresponding to the movement of the slider 21, and may be configured to be able to change between a fixed state and a moving state.

[0073] (5) In the above-described embodiment, the exposed portion of the slider 21 is configured to be displaced by an operation performed by an operator. However, the exposed portion of the slider 21 is not limited to being directly operated by the operator. For example, each slider 21 may also be displaced by obtaining a driving force from a pneumatic cylinder or the like.

[0074] (6) A plurality of functions possessed by one constituent element in the above-described embodiment may be achieved by a plurality of constituent elements, or one function possessed by one constituent element may be achieved by a plurality of constituent elements. In addition, a plurality of functions possessed by a plurality of constituent elements may be achieved by one constituent element, or one function achieved by a plurality of constituent elements may be achieved by one constituent element. A part of the configuration of the above-described embodiment may also be omitted. In addition, at least a part of the configuration of the above-described embodiment may be added to the configuration of the above-described other embodiment, or at least a part of the configuration of the above-described embodiment may be replaced with the configuration of the above-described other embodiment.

Claims

1. A surgical tool, characterized in that it comprises: a slider configured to be relatively movable in a linear direction with respect to a main body provided with at least a treatment portion for performing a medical treatment; a conversion portion that moves with a converted movement amount, which is a movement amount obtained by converting the movement amount of the slider by a predetermined magnification; and a transmission cable that transmits the converted movement amount to the treatment portion, wherein the conversion portion includes a conversion cable and a movable pulley, a first end portion of the conversion cable is mounted on the slider, and a second end portion of the conversion cable is mounted on the main body, the conversion cable is disposed on the circumferential surface of the movable pulley, and the conversion portion is provided on one side and the other side of the slider with respect to the moving direction of the slider.

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