Curved structure and surgical instrument using same

Abstract

Provided is a curved structure that can be reduced in diameter. The curved structure is provided with: a curved section (11) that is curved and stretched; a movable section (13) provided at a movable-side end section that operates in accordance with the bending and stretching of the bending section (11); an operation pull wire 17 which is inserted through the bending part 11 and the movable part 13, has an end part 17a positioned on the movable part 13, and is bent and extended; and a housing part (27) which is attached to the movable part (13) and which holds an end part (17a) of the operation pull wire (17) on the movable part (13).

Description

Technical Field

[0001] The present invention relates to a bending structure for a robot, a manipulator, etc., and a surgical instrument using this bending structure. Background Art

[0002] As a conventional bending structure, for example, there is a bending structure described in Patent Document 1.

[0003] In the bending structure, a movable part is provided at the front end of an outer cylinder which is a bending part for performing bending and extension. The outer cylinder is bent and extended by a driving wire which is an operating wire. The driving wire is inserted through the outer cylinder, and the end is supported by the movable part. The support of the end is performed by receiving the entire end in a connection hole provided in the movable part.

[0004] In this structure, even when the driving wire breaks, the end of the driving wire can be held in the connection hole of the movable part.

[0005] However, when reducing the outer diameter of the bending structure, it is sometimes necessary to open the connection hole toward the outer periphery of the movable part, so that when the driving wire breaks, the end may fall off. Therefore, in the conventional bending structure, there is a limit to reducing the diameter.

[0006] [Prior Art Documents]

[0007] [Patent Documents]

[0008] Patent Document 1: Japanese Patent Laid-Open No. 2022-073298 Summary of the Invention

[0009] [Problems to be Solved by the Invention]

[0010] The problem to be solved is that there is a limit to reducing the diameter of the bending structure.

[0011] [Technical Means for Solving the Problems]

[0012] The present invention provides a bending structure including: a bending part for performing bending and extension; a movable part provided at a movable-side end corresponding to the bending and extension of the bending part; an operating wire inserted through the bending part and the movable part, having an end located on the movable part and used for performing the bending and extension; and a holding member installed on the movable part for holding the end of the operating wire on the movable part.

[0013] Moreover, the present invention provides a surgical instrument,

[0014] Using the bending structure, the surgical instrument includes: an end effector mounted on the bending structure, the end effector including a housing portion that is mounted on the movable portion and functions as the holding member.

[0015] [Advantages of the Invention]

[0016] According to the present invention, miniaturization of the bending structure can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 FIG. 1 is a front view of forceps as a surgical instrument using the bending structure of Embodiment 1 of the present invention.

[0018] Figure 2 FIG. 2 is Figure 1 a sectional view of the forceps.

[0019] Figure 3 (A) of FIG. 3 is a sectional view showing an enlargement of the periphery of the movable portion of the forceps of Figure 2 FIG. 2, Figure 3 and (B) of FIG. 3 is a sectional view that is circumferentially deviated by 90° with respect to Figure 3 (A) of FIG. 3.

[0020] Figure 4 FIG. 4 is a perspective view of the movable portion of Figure 3 FIG. 2 as viewed from the front side.

[0021] Figure 5 FIG. 5 is a perspective view of the movable portion of Figure 3 FIG. 2 as viewed from the bottom side.

[0022] Figure 6 FIG. 6 is Figure 3 a plan view of the movable portion of FIG. 2.

[0023] Figure 7 FIG. 7 is Figure 3 a bottom view of the movable portion of FIG. 2.

[0024] Figure 8 FIG. 8 is a perspective view of the periphery of the movable portion of the bending structure of Figure 2 FIG. 2.

[0025] Figure 9 FIG. 9 is a plan view of the periphery of the movable portion of Figure 8 FIG. 2.

[0026] Figure 10 FIG. 10 is a perspective view of the housing portion of the end effector of the forceps of Figure 1 FIG. 2.

[0027] Figure 11 FIG. 11 is Figure 10 a side view of the housing portion of FIG. 10.

[0028] Figure 12 is a sectional view related to the XII-XII line of Figure 11 .

[0029] Figure 13 is an isometric view of a clamp bracket of an end effector of a forceps representing Figure 2 . Detailed Embodiment

[0030] By holding the end of the operation wire on the movable part with a holding member installed on the movable part, the purpose of making the diameter of the bending structure smaller can be achieved.

[0031] As shown in the figure, the bending structure 5 includes a bending part 11, a movable part 13, an operation wire 17, and a holding member 27.

[0032] The bending part 11 is the part that bends and extends. The movable part 13 is a member provided at the movable side end corresponding to the bending and extension of the bending part 11. The operation wire 17 is inserted through the bending part 11 and the movable part 13, has an end 17a located on the movable part 13, and is a member for performing bending and extension. The holding member 27 is a member installed on the movable part 13 and holding the end 17a of the operation wire 17 on the movable part 13.

[0033] The holding member 27 only needs to hold the end 17a of the operation wire 17, and a member such as a cover or a clip that is retrofitted or integrally provided on the movable part 13 can be used. In the case of integral setting, for example, the holding member can be combined with the movable part 13 through a hinge or the like. In any case, the holding member 27 can also have concave portions 35a, 35b for holding between the movable part 13.

[0034] Alternatively, the movable part 13 may include a plurality of circumferential parts 21a, 21b with different axial dimensions, a plurality of operation wires 17 are provided along the circumferential direction, and the ends 17a are respectively located on the circumferential parts 21a, 21b.

[0035] The bending structure 5 may also include a core material 15. The core material 15 is located inside the bending part 11, and one of its ends is located inside the movable part 13. At this time, the movable part 13 can also hold one end of the core material 15 by using the circumferential part 21a with a relatively large axial dimension.

[0036] This bending structure 5 can be applied to various robots or manipulators, for example, it can be used for surgical instruments.

[0037] The surgical instrument includes an end effector 7 installed on the bending structure 5. The end effector 7 may also include a housing part 27, and the housing part 27 is installed on the movable part 13 of the bending structure 5 and functions as a holding member.

[0038] The end effector 7 can adopt various actuators, but may also include a pair of clamps 29 and a clamp bracket 31. The pair of clamps 29 are components that open and close with respect to each other. The clamp bracket 31 rotatably supports at least one of the clamps 29 and is supported within the housing portion 27. When the pair of clamps 29 are single-opened, one of them is rotatably supported by the housing portion 27, and when they are double-opened, both are rotatably supported by the housing portion 27.

[0039] The clamp bracket 31 may also be located at the end 17a of the operating cable 17 in the circumferential portion 21b with a relatively small axial dimension, and is adjacent in the radial direction to the end 17a of the operating cable 17 in the circumferential portion 21a with a relatively large axial dimension.

[0040] Example 1

[0041] [Pliers]

[0042] Figure 1 is a front view of the pliers as a surgical instrument using the bending structure of Example 1 of the present invention. Figure 2 is showing Figure 1 a cross-sectional view of the pliers. Figure 3 (A) of Figure 2 is an enlarged cross-sectional view showing the periphery of the movable part of the pliers, Figure 3 (B) of Figure 3 is a cross-sectional view that is circumferentially offset by 90° with respect to (A) of

[0043] The pliers 1 of this example, as shown in Figure 1 and Figure 2 are surgical instruments used for a surgical support robot or a surgical support manipulator, etc., and include a shaft 3, a bending structure 5, and an end effector 7.

[0044] In addition, in this example, as an example of a surgical instrument, the pliers 1 are shown, but the surgical container instrument applicable to the bending structure 5 is not limited to the pliers 1 as long as it can be bent and extended. Moreover, the bending structure 5 can be applied to various machines such as a robot or a manipulator that can be bent and extended in addition to surgical instruments.

[0045] The shaft 3 is formed in a cylindrical shape and is rotatably coupled to, for example, a surgical support robot or a surgical support manipulator. The bending structure 5 is provided at the front end of the shaft 3. In addition, the shape of the shaft 3 is not particularly limited.

[0046] The bending structure 5 has a joint function and is the part that enables the bending and extension of the pliers 1. The bending structure 5 of this example includes a base 9, a bending portion 11, a movable portion 13, a core material 15, and an operating cable 17.

[0047] The base 9 is a structure that supports one end (fixed-side end) of the bending portion 11. The base 9 is a columnar body formed of resin, metal, or the like, particularly a stepped cylinder. The base 9 is fitted to the front end of the shaft 3 and installed. One end of the bending portion 11 is installed to the base 9 by welding or the like. However, only one end of the bending portion 11 may be in contact with the base 9.

[0048] In addition, the base 9 only needs to support one axial end of the bending portion 11 and be able to be coupled to the end of the shaft 3, and the material, shape, and structure can be freely set corresponding to the machine to which the bending structure body 5 is applied. The axial direction refers to the direction along the axis of the pliers 1.

[0049] The bending portion 11 is a portion where a plurality of wave washers 11a are stacked in the axial direction as shown in Figures 2 - 3 (B) and are held in a stacked state by welding or the like. The bending portion 11 runs with respect to one axial end supported by the base 9 by bending and extending, and the other axial end (movable-side end).

[0050] In addition, as long as the bending portion 11 can be bent or extended, there is no particular limitation, and it may be a disc spring, a bellows, or the like. A movable portion 13 is provided at the front end of the bending portion 11.

[0051] Figure 4 is a perspective view of the movable portion as viewed from the surface side, Figure 5 is a perspective view of the movable portion as viewed from the bottom surface side, Figure 6 is a plan view of the movable portion, Figure 7 is a bottom view of the movable portion.

[0052] The movable portion 13 is a structure that supports the other axial end (movable-side end) of the bending portion 11 as shown in Figure 3 (A) and (B). The movable portion 13 is a columnar body formed of resin, metal, or the like, particularly a cylinder. In the present embodiment, the movable portion 13 is installed to the other end of the bending portion 11 by welding or the like in a state of being placed on the other end of the bending portion 11. However, the movable portion 13 may only be in contact with the other end of the bending portion 11.

[0053] In addition, as long as the movable portion 13 can support the other axial end of the bending portion 11, the material, shape, and structure can be freely set corresponding to the machine to which the bending structure body 5 is applied.

[0054] The movable portion 13 of the present embodiment, as shown in Figure 3 (A) to Figure 7 has an axial through hole 19 provided in the central portion. Around the through hole 19, there are a plurality of circumferential portions 21a and 21b having different axial dimensions. In the present embodiment, the axial dimension of the circumferential portion 21a is relatively large, and the axial dimension of the circumferential portion 21b is relatively small.

[0055] In this embodiment, two circumferential portions 21a are integrally provided at the edge portion 19a of the through hole 19. These circumferential portions 21a are arranged at positions that are 180° apart in the circumferential direction. Additionally, the number or arrangement interval of the circumferential portions 21a is arbitrary, and one or more than three circumferential portions 21a may also be provided. The edge portion 19a of the through hole 19 is an annular portion that demarcates the through hole 19.

[0056] Each circumferential portion 21a is columnar with a sector-shaped ring when viewed from above. However, the planar shape of the circumferential portion 21a is arbitrary and may also be other shapes such as rectangular. Additionally, "when viewed from above" refers to the state of observation from the axial direction.

[0057] The surface 23a of the circumferential portion 21a is formed flush with the surface 23b of the edge portion 19a of the through hole 19. However, the surface 23a of the circumferential portion 21a and the surface 23b of the edge portion 19a do not have to be flush. The surface 23b of the edge portion 19a and the surface 23a of the circumferential portion 21a refer to the surfaces on the opposite side of the bending portion 11 in the axial direction.

[0058] The circumferential portion 21a projects from the edge portion 19a of the through hole 19 toward the bending portion 11 side in the axial direction. A circumferential portion 21b is provided at the end of the circumferential portion 21a on the bending portion 11 side.

[0059] Two circumferential portions 21b are integrally provided on each circumferential portion 21a. As a result, the circumferential portions 21b are arranged at positions that are 180° apart in the circumferential direction. Additionally, the number or arrangement interval of the circumferential portions 21b can also be arbitrarily set corresponding to the circumferential portion 21a.

[0060] Each circumferential portion 21b is plate-shaped with a sector-shaped ring when viewed from above. Additionally, the planar shape of the circumferential portion 21b is arbitrary and may also be other shapes such as rectangular. The surface 23c of the circumferential portion 21b is located on the bending portion 11 side in the axial direction relative to the surface of the circumferential portion 21a.

[0061] There is a gap between the circumferential portion 21b and the edge portion 19a of the through hole 19 in the axial direction. As a result, the interior 13a of the movable portion 13 is open to the outside. The interior 13a of the movable portion 13 becomes a space portion into which one end of the core material 15 is inserted. In the circumferential direction, the circumferential portion 21b projects from the circumferential portion 21a and is arranged at intervals relative to the adjacent circumferential portion 21b.

[0062] In the movable portion 13, insertion through holes 25a and 25b for inserting the operation wire 17 are provided in the circumferential portions 21a and 21b respectively. The insertion through holes 25a and 25b penetrate the circumferential portions 21a and 21b in the axial direction respectively.

[0063] The insertion through-hole 25a is a hole that is closed in a plan view between the circumferential portion 21a and the edge portion 19a of the through-hole 19. Moreover, the insertion through-hole 25a is a hole that protrudes axially from the edge portion 19a of the through-hole 19 in the circumferential portion 21a, is open on the inner side in the radial direction, and is concave in a plan view. The insertion through-hole 25b is a hole that is open on the inner side in the radial direction as a whole and is concave in a plan view. In addition, the radial direction refers to the direction along the diameter of the pliers 1.

[0064] The core material 15 is a member that can be bent and extended together with the bending portion 11 as Figure 2 and Figure 3 such. The core material 15 of the present embodiment is a multi-disc spring, particularly a double disc spring. However, the core material 15 can also be a close-coiled spring or a flexible columnar body, etc.

[0065] A multi-disc spring is a disc spring in which the winding portions of at least two disc springs are fitted and arranged between each other, and can suppress the compression of the bending portion 11. In addition, a multi-disc spring can also use three or more disc springs.

[0066] The core material 15 is inserted through the base portion 9 and the bending portion 11, and one end is located inside the movable portion 13 at 13a. In this state, one end of the core material 15 abuts against the edge portion 19a of the through-hole 19 in the axial direction and is held by the circumferential portion 21a in the radial direction.

[0067] Figure 8 is a perspective view showing the periphery of the movable portion of the bending structure body, Figure 9 is showing Figure 8 a plan view of the periphery of the movable portion.

[0068] Figures 2 - 3 The operation wire 17 of (B) is a part for bending and extending the bending portion 11 by being pulled in the axial direction. The operation wire 17 of the present embodiment is provided at four places in the circumferential direction of the bending structure body 5 at intervals of 90 degrees. When any one or more of these operation wires 17 are pulled toward the base portion 9 side with respect to the movable portion 13, the bending portion 11 can be bent to operate the movable portion 13.

[0069] In addition, the so-called operation in the axial direction means the relative pulling and pulling back of the operation wire 17 in the axial direction. The number or arrangement interval of the operation wires 17 can be set arbitrarily.

[0070] Each operation wire 17 can include a stranded wire, a single wire, a piano wire, a multi-joint rod, a chain, a belt, a wire, a rope, etc. The operation wire 17 is inserted through the bending portion 11 and the movable portion 13 and has an end portion 17a located on the movable portion 13.

[0071] That is, the operation wire 17 is inserted through the insertion hole 25c provided in the bent portion 11, and is inserted through the insertion hole 25a or 25b in the movable portion 13. An end portion treatment member such as a sleeve is attached to the end portion 17a of the operation wire 17 by caulking or the like.

[0072] The end portion 17a is as Figure 3 shown in (A) and (B) of Figure 8 and Figure 9 has a shape that bulges more than other parts of the operation wire 17 in a plan view. Thus, the end portion 17a bulges more than the insertion holes 25a and 25b of the movable portion 13 in a plan view, and is placed on the surfaces 23a and 23c of the circumferential portions 21a and 21b of the movable portion 13. Therefore, the end portion 17a is located on the movable portion 13.

[0073] In addition, in addition to the case where the end portion 17a is placed on the surfaces 23a and 23c of the movable portion 13, the end portion 17a also includes a state where a part thereof enters the axial concave portions provided in the circumferential portions 21a and 21b. The insertion holes 25a and 25b are provided at the bottom of the concave portion.

[0074] The end portion 17a of the operation wire 17 is held by the housing portion 27 of the end effector 7 which is a holding member.

[0075] Figure 10 is a perspective view showing the housing portion, Figure 11 is Figure 10 a side view of the housing portion of Figure 12 is related to Figure 11 a sectional view taken along the X-X line of

[0076] The end effector 7 of the present embodiment is as Figures 1 - 3 shown in (B) of

[0077] and includes a housing portion 27, a pair of clamps 29, a clamp bracket 31, and a cam portion 33. In addition, the end effector 7 is a cam type and the pair of clamps 29 open and close, but it may also be a link type.

[0077] The housing portion 27 is attached to the movable portion 13 and functions as a holding member. The holding member is a member that is attached to the movable portion 13 and holds the end portion 17a of the operation wire 17 on the movable portion 13. The holding here means holding in the radial and axial directions, and means holding to such an extent that the end portion 17a does not fall off in the case where the operation wire 17 breaks. In addition, the holding member may be a cover or a clip independent of the housing portion 27.

[0078] The housing portion 27 is as Figure 3 shown in (A) and (B) of Figures 10 - 12In this way, the overall shape is cylindrical, but there is no particular limitation as long as it is mounted on the movable part 13. In the housing part 27 of this embodiment, one end 27a in the axial direction has a shape corresponding to the movable part 13. The one end 27a is fitted into the movable part 13. As a result, the one end 27a of the housing part 27 hits the surfaces 23a and 23c of the movable part 13. In addition, the housing part 27 may also be shaped to cover the entire movable part 13.

[0079] The one end portion 27 a of the housing portion 27 has recessed portions 35 a and 35 b for holding the movable portion 13 .

[0080] The recessed portion 35a is a closed concave shape in the axial direction in a plan view, and allows the end portion 17a of the operation wire 17 on the circumferential portion 21a to enter and be held therein.

[0081] The recessed portion 35b is provided on the radially inner side of the axially protruding portion 27b of the one end portion 27a of the housing portion 27. The recessed portion 35b is concave in the axial and radial directions. The recessed portion 35b presses and holds the end portion 17a on the circumferential portion 21b from the radially and axially outer sides. In addition, the recessed portion 35b does not hold the end portion 17a from the radially inner side, but the holding is as shown in FIG. Figure 8 and Figure 9 This is done by the edge 19 a of the through hole 19 .

[0082] Therefore, even if the operation wire 17 breaks, the end portion 17a can be prevented from falling off. In addition, since the end portion 17a of the operation wire 17 does not need to be held on the movable portion 13 side, the diameter of the bending structure 5 can be reduced.

[0083] The housing portion 27 is as follows Figure 1 and Figure 2 Thus, the pair of clamps 29 are rotatably supported so as to be openable and closable. Figures 10 - 12 In this way, the slit 37 is provided at the front end side in the axial direction, and the support wall portion 39 that supports the clamp 29 is divided on one side and the other side in the radial direction sandwiching the slit 37 .

[0084] The housing portion 27 has support recesses 41 that are open on both sides along the radial direction of the slit 37 .

[0085] Figure 1 and Figure 2 The pair of clamps 29 are opened and closed with each other, and in this embodiment, they are configured as grippers that grasp by closing action. These clamps 29 are formed in the same shape and are arranged with the front and back faces opposite to each other. However, the clamps 29 do not need to be in the same shape. Each clamp 29 includes a body portion 43, an arm 45, and a rotating shaft portion 47.

[0086] The main body portion 43 is formed in a rod shape and is the part that performs the opening and closing operation. At the bottom end in the axial direction of the main body portion 43, a rotary shaft portion 47 is provided via an arm 45.

[0087] The rotary shaft portion 47 is rotatably engaged with the support recess 41 of the housing portion 27 by sliding. In addition, the shapes of the rotary shaft portion 47 and the support recess 41 can be arbitrarily set as long as the rotary shaft portion 47 can be rotatably supported around the axis by sliding in the support recess 41.

[0088] The arm 45 is formed in a plate shape. The arm 45 enters Figure 10 and Figure 11 into the slit 37 of the housing portion 27 shown. The arm 45 is coupled to the clamp bracket 31, and the clamp 29 can be opened and closed by the clamp bracket 31.

[0089] Figure 13 It is a perspective view showing the clamp bracket.

[0090] The clamp bracket 31 is a member that is rotatably coupled to Figure 1 and Figure 2 both of the pair of clamps 29 and is reciprocally movable relative to the housing portion 27. The clamp bracket 31 has opposing bracket plate portions 51 as Figure 13 shown. The arm 45 of the pair of clamps 29 is disposed between the bracket plate portions 51.

[0091] An opening 51a is provided in each bracket plate portion 51 of the clamp bracket 31. Correspondingly to the opening 51a, a hole (not shown) is provided in the arm 45 of the clamp 29. A shaft 49 is inserted through the hole in the arm 45 and the opening 51a. Accordingly, the clamp 29 is rotatably engaged with the clamp bracket 31.

[0092] On the bracket base 53 that couples between the bracket plate portions 51, a connecting portion 55 protruding in the axial direction is provided. The connecting portion 55 is formed in a cylindrical shape and connects an operating member (not shown) such as a push-pull cable. The clamp bracket 31 can reciprocally move in the axial direction by the operating member.

[0093] By the reciprocating movement, the clamp bracket 31 applies a force around the rotation center to the clamp 29 via the shaft 49 as the coupling portion.

[0094] The clamp bracket 31 is as Figure 3 shown in (A) and (B) of, and is located on the end portion 17a of the operating cable 17 in the circumferential portion 21b having a relatively small axial dimension within the housing portion 27. Moreover, the clamp bracket 31 is adjacent to the end portion 17a of the operating cable 17 in the radial direction within the housing portion 27 and is located in the circumferential portion 21a having a relatively large axial dimension.

[0095] Therefore, in this embodiment, the clamp bracket 31 can be arranged to axially bias towards the movable part 13, reducing the axial dimension of the pliers 1.

[0096] The cam part 33 is arranged Figure 2 between the housing part 27 and the clamp 29 as shown, and rotates the clamp 29 to open and close corresponding to the reciprocating movement of the clamp bracket 31.

[0097] The cam part 33 can adopt various forms, but in this embodiment, it includes a cam pin 59 installed on the housing part 27 and a cam groove 61 provided on the clamp 29.

[0098] The cam pin 59 is installed in Figure 10 the through hole 63 of the housing part 27 shown, and the front end protrudes into the slit 37 of the housing part 27. In the slit 37, as shown Figure 2 the front end of the cam pin 59 engages with the cam groove 61. The cam pin 59 is cylindrical, but there is no particular limitation.

[0099] The cam groove 61 is provided on the arm 45 of each clamp 29. The cam groove 61 is formed in an arc shape around the rotation center. In addition, the cam groove 61 includes a concave part, but it can also be a through hole. By the relative movement of the cam pin 59 along the cam groove 61, the clamp 29 performs the opening and closing actions.

[0100] [Assembly]

[0101] When assembling the pliers 1 of this embodiment, as shown Figure 8 and Figure 9 the operating wire 17 is assembled to the bending structure 5 in advance. The operating wire 17 passes through the movable part 13, and the end 17a is located on the movable part 13.

[0102] For the bending structure 5, the end effector 7 is installed as shown Figure 3 in (A) and (B).

[0103] When installing the end effector 7, the movable part 13 of the bending structure 5 is fitted into one end part 27a of the housing part 27. Thus, one end part 27a of the housing part 27 abuts against the movable part 13. At this time, the concave parts 35a and 35b of one end part 27a of the housing part 27 engage with the end 17a on the movable part 13 and hold the end 17a between them and the movable part 13.

[0104] In this way, in this embodiment, the end 17a of the operating wire 17 can be held by the housing part 27 of the end effector 7 as a holding member. Therefore, it is not necessary to hold the end 17a of the operating wire 17 on the side of the movable part 13, and miniaturization of the bending structure 5 can be achieved.

[0105] The holding of the end portion 17a of the operating wire 17 is carried out by the concave portions 35a and 35b provided in the housing portion 27, so that it can be easily carried out when the housing portion 27 is installed.

[0106] Moreover, in the present embodiment, since the housing portion 27 is used as the holding member, the number of parts can be reduced and the structure can be simplified.

[0107] In a state where the end effector 7 is attached to the bending structure 5, the end portion of the core material 15 of the bending structure 5 is located inside the movable portion 13a of the movable portion 13. In the present embodiment, the end portion of the core material 15 can be held by the circumferential portion 21a having a relatively large axial dimension.

[0108] Further, in the present embodiment, the clamp bracket 31 of the end effector 7 is placed on the end portion 17a of the operating wire 17 located in the circumferential portion 21b having a relatively small axial dimension, and is adjacent to the end portion 17a of the operating wire 17 located in the circumferential portion 21a in the radial direction. Therefore, the axial dimension of the forceps 1 can be reduced.

[0109] Explanation of reference numerals

[0110] 1: Forceps (surgical instrument)

[0111] 3: Shaft

[0112] 5: Bending structure

[0113] 7: End effector

[0114] 9: Base

[0115] 11: Bending portion

[0116] 13: Movable portion

[0117] 15: Core material

[0118] 17: Operating wire

[0119] 17a: End portion

[0120] 21a, 21b: Circumferential portions

[0121] 27: Housing portion

[0122] 29: Clamp

[0123] 31: Clamp bracket

[0124] 35a, 35b: Concave portions

Claims

1. A bending structure, comprising: A bending portion that performs bending and stretching; A movable portion provided at a movable-side end corresponding to the bending and stretching of the bending portion; An operating wire that passes through the bending portion and the movable portion, has an end portion located on the movable portion, and is used for performing the bending and stretching; And A holding member mounted on the movable portion to hold the end portion of the operating wire on the movable portion.

2. The bending structure according to claim 1, wherein The holding member has a recess for holding between the holding member and the movable portion.

3. The bending structure according to claim 1 or 2, wherein The movable portion includes a plurality of circumferential portions with different axial dimensions, A plurality of the operating wires are provided along the circumferential direction, and the end portions are respectively located on the circumferential portions.

4. The bending structure according to claim 3, comprising: A core material located within the bending portion, and one end thereof is located within the movable portion, The movable portion holds the one end of the core material by using the circumferential portion with a relatively larger axial dimension.

5. A surgical instrument using the bending structure according to claim 1 or 2, the surgical instrument comprising: An end effector mounted on the bending structure, The end effector includes a housing portion that is mounted on the movable portion and functions as the holding member.

6. The surgical instrument according to claim 5, wherein The end effector includes: A pair of clamps that open and close with respect to each other; And A clamp bracket that rotatably supports at least one of the pair of clamps and is supported within the housing portion.

7. The surgical instrument according to claim 6, wherein The movable portion includes a plurality of circumferential portions with different axial dimensions, A plurality of the operating wires are provided along the circumferential direction, and the end portions are respectively located on the circumferential portions, The clamp bracket is located on the end portion of the operating wire at the circumferential portion with a relatively smaller axial dimension, and is adjacent in the radial direction to the end portion of the operating wire at the circumferential portion with a relatively larger axial dimension.

Images