Surgical instrument

Abstract

The surgical instrument (100) is provided with: a rod moving member (50) to which the base end of the rod (40) is fixed; a drive unit (61) that reciprocates the rod moving member (50) in the axial direction of the shaft (10); and a tube (81) disposed between the rod moving member (50) and the shaft (40), the tube (81) being inserted into the hole (51) of the rod moving member (50).

Description

Technical Field

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

[0002] Conventionally, surgical instruments having a bending portion have been disclosed. For example, Japanese Unexamined Patent Application Publication No. 2014-38075 discloses a forceps manipulator having a bending portion and a gripping portion. The bending portion employs a spring. Four holes are formed in the wall surface of the spring. Rods are inserted into the holes. The rods are made of superelastic rods. The front ends of the rods are fixed to the spring. The base ends of the four rods are respectively connected to pneumatic cylinders. The bending portion bends by the rods pushed by the pneumatic cylinders and the rods pulled by the pneumatic cylinders. In addition, a shaft is connected to the proximal end side of the bending portion. The rods are arranged inside the shaft of the forceps manipulator. Inside the shaft, the rods are inserted into a catheter.

[0003] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2014-38075

[0004] In the forceps manipulator disclosed in Japanese Unexamined Patent Application Publication No. 2014-38075, when the bending angle of the bending portion is increased, it is necessary to increase the stroke of the pneumatic cylinder to increase the amount of the rod pushed. In this case, the buckling load becomes small, and the rod buckles even with a slight push on the rod. In Japanese Unexamined Patent Application Publication No. 2014-38075, between the shaft and the pneumatic cylinder, the rods are exposed without being covered by the catheter. Therefore, it is considered that the rods may buckle between the shaft and the pneumatic cylinder when the force applied to the rods becomes large. Therefore, there is a problem that the bending angle of the bending portion cannot be increased. Summary of the Invention

[0005] The present disclosure has been made to solve the above-described problems, and one object of the present disclosure is to provide a surgical instrument capable of increasing the bending angle of a bending portion.

[0006] The surgical instrument according to one aspect of the present disclosure includes: a shaft; a bending portion connected to the front end of the shaft; an end effector disposed at the front end of the bending portion; a rod inserted inside the shaft and the bending portion, the front end of which is fixed to the end effector side of the bending portion; a rod moving member to which the base end of the rod is fixed; a driving unit that reciprocally moves the rod moving member in the axial direction of the shaft; and a tube inserted with the rod inside and disposed between the rod moving member and the shaft, the tube being inserted into a hole of the rod moving member.

[0007] As described above, the surgical instrument according to one aspect of the present disclosure includes a tube inserted with the rod inside and disposed between the rod moving member and the shaft. Thereby, buckling of the rod when the rod is pushed by the rod moving member is suppressed by the tube. As a result, the bending angle of the bending portion can be increased.

[0008] According to the present disclosure, the bending angle of the bending portion can be increased. Brief Description of the Drawings

[0009] Figure 1 It is a view of the surgical instrument according to the first embodiment as observed from the C1 direction.

[0010] Figure 2 It is a view of the surgical instrument according to the first embodiment as observed from the B2 direction.

[0011] Figure 3 It is a view showing the shaft, the bending portion, and the end effector according to the first embodiment.

[0012] Figure 4 It is a cross-sectional view along the Figure 2 1300-1300 line.

[0013] Figure 5 It is a cross-sectional view along the Figure 2 1000-1000 line.

[0014] Figure 6 It is a perspective view of the surgical instrument according to the first embodiment.

[0015] Figure 7 It is a cross-sectional view along the Figure 2 1100-1100 line.

[0016] Figure 8 It is a cross-sectional view along the Figure 2 1200-1200 line.

[0017] Figure 9 It is a view showing the tip of the rod according to the first embodiment.

[0018] Figure 10 It is a cross-sectional view along the Figure 2 1400-1400 line.

[0019] Figure 11 It is a view showing the moving mechanism according to the first embodiment.

[0020] Figure 12 It is a schematic view showing the rod moving member, the rod, the tube, and the elastic member according to the first embodiment.

[0021] Figure 13 It is a view showing the state where the bending portion bends toward the B1 side.

[0022] Figure 14 It is a view showing the state where the bending portion bends toward the B2 side.

[0023] Figure 15 It is a schematic view showing the rod moving member, the rod, the tube, and the elastic member according to the second embodiment.

[0024] Figure 16 It is a diagram of the drive mechanism according to the modified example as observed from the C1 side.

[0025] Figure 17 It is a diagram for explaining the operation of the drive mechanism according to the modified example.

[0026] Figure 18 It is a diagram of the drive mechanism according to the modified example as observed from the B2 side. Detailed implementation manner

[0027] Hereinafter, embodiments for embodying the present disclosure will be described based on the drawings.

[0028] [First Embodiment]

[0029] The structure of the surgical instrument 100 according to the first embodiment will be described. In addition, in the specification of the present application, the axial direction of the shaft 10 is set as the A direction. The front end side of the shaft 10 is set as the A1 side, and the base end side is set as the A2 side. Further, the direction orthogonal to the axial direction of the shaft 10 is set as the B direction. One side of the B direction is set as the B1 side, and the other side is set as the B2 side. Additionally, the direction orthogonal to the A direction and the B direction is set as the C direction. One side of the C direction is set as the C1 side, and the other side is set as the C2 side.

[0030] As Figure 1 shown, the surgical instrument 100 includes: a shaft 10, a bending portion 20, a rod moving member 50, a drive portion 61, and a fixing portion 83. As Figure 2 shown, the surgical instrument 100 includes a drive mechanism 70. As Figure 3 shown, the surgical instrument 100 includes an end effector 22. As Figure 4 shown, the surgical instrument 100 includes: a rod 40, a tube 81, and an elastic member 82. In addition, in Figure 2 , the drive portion 61 etc. are omitted. Also, in the figures other than Figure 3 , the detailed structure of the end effector 22 is omitted. Further, in Figure 4 , in order to easily observe each component of the surgical instrument 100, the width of the surgical instrument 100 in the A direction is reduced and the width in the B direction is enlarged and illustrated.

[0031] As Figure 1 shown, the bending portion 20 is connected to the front end of the shaft 10. The rod moving member 50 is disposed on the A2 side which is the base end side of the shaft 10. The drive portion 61 is disposed on the B2 side of the rod moving member 50. As Figure 2 shown, the drive mechanism 70 is disposed on the C2 side of the rod moving member 50. As Figure 3 shown, the end effector 22 is connected to the front end of the bending portion 20. As Figure 4As shown, the rod 40 is disposed inside the tube 81 and the elastic member 82. The rod 40 is pushed and pulled by the rod moving member 50, so that the buckling portion 20 buckles.

[0032] As Figure 5 shown, the shaft 10 is a hollow cylindrical member. The shaft 10 includes an outer tube 11 and a grooved tube 12. The outer tube 11 covers the outer periphery of the grooved tube 12. Grooves 12a are formed in the grooved tube 12. The rod 40 is inserted into the grooves 12a. A pair of grooves 12a are formed. The grooves 12a are formed along the A direction which is the axial direction of the shaft 10 on the outer surface of the grooved tube 12.

[0033] As Figure 7 shown, the buckling portion 20 is connected to the front end of the shaft 10. The buckling portion 20 includes a plurality of stopper members 21. The plurality of stopper members 21 are connected to each other. In addition, as Figure 8 shown, the plurality of stopper members 21 have through holes 21a and internal spaces 21b. The rod 40 is inserted into the through holes 21a. As Figure 7 shown, the adjacent stopper members 21 are connected by pins 21c. The distal end of the shaft 10 is connected to the stopper member 21 located at the proximal end of the buckling portion 20 by a pin 21c. Each stopper member 21 is connected to the adjacent stopper member 21 in a manner capable of rotating about the axis of the pin 21c. The axis of the pin 21c is the axis along the C direction. The axes of the pins 21c are parallel to each other. That is, the buckling portion 20 can buckle in the A-B plane orthogonal to the C direction.

[0034] As Figure 3 shown, the end effector 22 is disposed at the front end of the buckling portion 20. The end effector 22 is, for example, a medical forceps.

[0035] As Figure 7 shown, the rod 40 is inserted into the shaft 10 and the buckling portion 20. The front end 40a of the rod 40 is fixed to the A1 side which is the side of the end effector 22 of the buckling portion 20. The rod 40 is inserted into the grooves 12a provided in the grooved tube 12 and the through holes 21a formed through the plurality of stopper members 21. The front end 40a of the rod 40 engages with the stopper member 21 located at the front end of the buckling portion 20. Specifically, as Figure 9As shown, the front end 40a of the rod 40 has a spherical shape. The rod 40 is inserted through the through-hole 21a from the front end side of the bending portion 20. Moreover, the front end of the spherical-shaped rod 40 engages with the through-hole 21a of the stopper member 21. Specifically, the front end of the spherical-shaped rod 40 pushes and pulls the bending portion 20. When the bending portion 20 is pushed by the rod 40, the front end of the spherical-shaped rod 40 pushes the stopper member 21 disposed at the foremost end. When the bending portion 20 is pulled by the rod 40, the front end of the spherical-shaped rod 40 is hooked on the through-hole 21a of the stopper member 21, thereby pulling the bending portion 20 by the rod 40. The rod 40 is formed of a superelastic alloy such as a rod-shaped nickel-titanium alloy, for example. The rod 40 is pushed and pulled, so that the bending portion 20 bends in the A-B plane orthogonal to the C direction.

[0036] As Figure 5 shown, two rods 40 are arranged in each of the grooves 12a of the grooved tube 12 of the shaft 10. A spacer 15 is arranged between the two rods 40 disposed in one groove 12a. The outer tube 11, the groove 12a of the grooved tube 12, and the spacer 15 prevent buckling of the rod 40 in the groove 12a.

[0037] As Figure 4 shown, the rod moving member 50 has a block shape, for example. A hole 51 is formed in the rod moving member 50. The base end of the rod 40 is fixed to a portion 511 on the bottom side of the hole 51. In addition, the bottom side portion 511 means the portion on the A2 side of the stepped portion 512 in the hole 51. The base end of the rod 40 is bonded, for example, by an adhesive applied to the entire bottom side portion 511 of the hole 51. The rod moving member 50 includes a pair of rod moving members 50a and 50b. The two rods 40 inserted into one of the two grooves 12a of the grooved tube 12 are fixed to the rod moving member 50a. The two rods 40 inserted into the other groove 12a of the two grooves 12a are fixed to the rod moving member 50b. In addition, Figure 4 in, one hole 51 is formed in the rod moving member 50a, and one rod 40 is inserted into the hole 51. However, actually, as Figure 10 shown, two holes 51 are formed in the rod moving member 50a, and the two rods 40 are respectively inserted into the holes 51. The same applies to the rod moving member 50b. In addition, the hole 51 of the rod moving member 50a is designated as the hole 51a. The hole 51 of the rod moving member 50b is designated as the hole 51b. Further, a recess 54a is formed in the rod moving member 50a, and a recess 54b is formed in the rod moving member 50b. A member inserted into the inside of the grooved tube 12 of the shaft 10 can pass through the recess 54a and the recess 54b.

[0038] As Figure 11As shown, the drive unit 61 reciprocates the rod moving member 50 in the axial direction of the shaft 10. Specifically, in the first embodiment, the drive unit 61 is constituted by a single motor.

[0039] In the first embodiment, the drive mechanism 70 moves one of the pair of rod moving members 50 in one direction of the A direction, which is the axial direction of the shaft 10, by the driving force of a single motor, and moves the other of the pair of rod moving members 50 in the other direction of the axial direction of the shaft 10. Specifically, the drive mechanism 70 includes: a pulley 71, a timing belt 72, a ball screw 73, a moving body 74, and a moving body 75. A pulley 61a is connected to the drive unit 61. The timing belt 72 is arranged so as to span the pulley 71 and the pulley 61a. The driving force of the drive unit 61 is transmitted to the ball screw 73 via the timing belt 72. The ball screw 73 has left and right threads. The ball screw 73 rotates, whereby the moving body 74 moves to one side in the axial direction of the shaft 10, and the moving body 75 moves to the other side in the axial direction of the shaft 10. The rod moving member 50a and the rod moving member 50b are respectively attached to the moving body 74 and the moving body 75.

[0040] In the first embodiment, as Figure 6 shown, the rod moving member 50a includes a first portion 52a and a second portion 53a. The first portion 52a is connected to the drive mechanism 70. The second portion 53a is connected to the first portion 52a and is connected to the rod 40. Similarly, the rod moving member 50b also includes a first portion 52b and a second portion 53b. The first portion 52a of the rod moving member 50a and the first portion 52b of the rod moving member 50b are arranged in series in the A direction, which is the axial direction of the shaft 10. The second portion 53a of the rod moving member 50a is arranged on the B1 side, which is one side of the shaft 10, in the B direction orthogonal to the axial direction of the shaft 10. The second portion 53b of the rod moving member 50b is arranged on the B2 side, which is one side of the shaft 10, in the B direction orthogonal to the axial direction of the shaft 10.

[0041] Specifically, the first portion 52a of the rod moving member 50a is connected to the moving body 74 of the drive mechanism 70. The second portion 53a of the rod moving member 50a is arranged to extend from the first portion 52a toward the C1 direction side. The first portion 52b of the rod moving member 50b is connected to the moving body 75 of the drive mechanism 70. The second portion 53b of the rod moving member 50b is arranged to extend from the first portion 52b toward the C1 direction side. Even when the ball screw 73 rotates and the rod moving member 50a moves to the A1 side and the rod moving member 50b moves to the A2 side, the second portion 53a of the rod moving member 50a and the second portion 53b of the rod moving member 50b do not interfere with each other.

[0042] In the first embodiment, as Figure 4As shown, the rod 40 is inserted inside the tube 81. The tube 81 is disposed between the rod moving member 50 and the shaft 10. The tube 81 is inserted into the hole 51 of the rod moving member 50. Specifically, the tube 81 has a cylindrical shape. The inner diameter and the outer diameter of the tube 81 are set such that it does not buckle together with the rod 40 when the rod 40 is moved in the A1 direction by the rod moving member 50. The tube 81 is made of metal, for example. In addition, the proximal end side of the tube 81 is inserted into the hole 51 of the rod moving member 50. Further, in Figure 4 one tube 81 inserted into one hole 51a of the rod moving member 50a is illustrated, but actually, two holes 51a are formed in the rod moving member 50a, two rods 40 are respectively inserted into the holes 51a, and tubes 81 are respectively disposed in the two holes 51a. The same applies to the rod moving member 50b. That is, the tube 81 is disposed with respect to each of the four rods 40.

[0043] In the first embodiment, the fixing portion 83 fixes the A1 side on the shaft 10 side of the tube 81. The A2 side on the rod moving member 50 side of the tube 81 is inserted into the hole 51 of the rod moving member 50 and is a free end. The rod moving member 50 moves relative to the tube 81. For example, the fixing portion 83 is a plate-like member disposed orthogonally to the A direction. A hole 83a is formed in the fixing portion 83. The rod 40 is inserted into the hole 83a. The end portion on the A1 side of the tube 81 is fixed to the hole 83a of the fixing portion 83. That is, the end portion on the A1 side of the tube 81 is a fixed end. The end portion on the A1 side of the tube 81 is fixed to the hole 83a of the fixing portion 83 by an adhesive 83b, for example. Further, the end portion on the A1 side of the tube 81 may be fixed to the hole 83a of the fixing portion 83 by welding. Additionally, an external thread may be formed on the end portion on the A1 side of the tube 81, and an internal thread may be formed in the hole 83a of the fixing portion 83, so that the end portion on the A1 side of the tube 81 is fixed to the hole 83a of the fixing portion 83 by screwing. Four holes 83a of the fixing portion 83 are formed in the fixing portion 83 to correspond to the four rods 40. In addition, the end portion on the A2 side of the tube 81 may also be fixed to the hole 51 of the rod moving member 50. Thus, even if the rod moving member 50 moves to the A1 side or the A2 side, the tube 81 does not move.

[0044] In the first embodiment, the elastic member 82 is disposed between the proximal end of the rod 40 and the tube 81 in the hole 51 of the rod moving member 50 and covers the outer periphery of the rod 40. The A1 side of the elastic member 82 is a free end not fixed to the tube 81. The A2 side of the elastic member 82 is a free end not fixed. Further, in Figure 4 one elastic member 82 disposed in one hole 51a of the rod moving member 50a is illustrated, but actually, two holes 51a are formed in the rod moving member 50a, two rods 40 are respectively inserted into the holes 51, and elastic members 82 are respectively disposed in the two holes 51. The same applies to the rod moving member 50b.

[0045] In the first embodiment, the elastic member 82 includes a compression coil spring. The pitch p of the compression coil spring in its natural length is equal to or less than the buckling length l of the rod 40. The buckling length l is calculated by the following formula.

[0046] P cr = nπ 2 EI / l 2

[0047] P cr is the buckling load. E is Young's modulus. I is the moment of inertia of the cross section. n is the end coefficient.

[0048] As Figure 12 shown in the rod moving member 50b, when the rod moving member 50b moves toward the A1 side, the elastic member 82 is compressed by the stepped portion 512 on the part 511 side of the hole 51b of the rod moving member 50b and the tube 81. Thus, buckling of the rod 40 is suppressed by the tube 81 and the elastic member 82. In addition, as Figure 12 shown in the rod moving member 50a, when the rod moving member 50a moves toward the A2 side, the length of the elastic member 82 formed of the compression coil spring becomes the natural length.

[0049] (Operation of the surgical instrument)

[0050] As Figure 13 shown, by the driving force of the driving unit 61, the ball screw 73 of the driving mechanism 70 rotates to one side, so that the rod moving member 50a moves toward the A2 side and the rod moving member 50b moves toward the A1 side. Thus, the bending part 20 bends toward the B1 side.

[0051] As Figure 14 shown, by the driving force of the driving unit 61, the ball screw 73 of the driving mechanism 70 rotates to the other side, so that the rod moving member 50a moves toward the A1 side and the rod moving member 50b moves toward the A2 side. Thus, the bending part 20 bends toward the B2 side.

[0052] [Effect of the first embodiment]

[0053] The surgical instrument 100 includes a tube 81 into which the rod 40 is inserted and which is disposed between the rod moving member 50 and the shaft 10. Thus, buckling of the rod 40 when the rod 40 is pushed by the rod moving member 50 is suppressed by the tube 81. As a result, the bending angle of the bending part 20 can be increased.

[0054] A portion of the rod 40 on the side of the rod moving member 50 is inserted into the hole 51 of the rod moving member 50. The surgical instrument 100 includes an elastic member 82. The elastic member 82 is disposed between the proximal end of the rod 40 and the tube 81 in the hole 51 of the rod moving member 50 and covers the outer periphery of the rod 40. Thus, buckling of the rod 40 in the hole 51 of the rod moving member 50 can be suppressed by the elastic member 82.

[0055] The elastic member 82 includes a compression coil spring. The pitch p of the compression coil spring in its natural length is equal to or less than the buckling length l of the rod 40. Thus, buckling of the rod 40 in the hole 51 of the rod moving member 50 can be reliably suppressed by the compression coil spring.

[0056] A pair of rod moving members 50 are provided. A plurality of rods 40 and tubes 81 are respectively provided corresponding to the pair of rod moving members 50. The drive unit 61 is composed of one motor. The surgical instrument 100 includes a drive mechanism 70. The drive mechanism 70 moves one of the pair of rod moving members 50 in one direction of the axial direction of the shaft 10 and moves the other of the pair of rod moving members 50 in the other direction of the axial direction of the shaft 10 by the driving force of one motor. Thus, the pair of rod moving members 50 can be moved in opposite directions by one motor. Therefore, compared with the case where a motor is provided for each of the pair of rod moving members 50, the structure of the surgical instrument 100 can be simplified and the control of the motor can be easily performed.

[0057] The second portion 53a of the rod moving member 50a is disposed on one side of the shaft 10 in a direction orthogonal to the axial direction of the shaft 10, and the second portion 53b of the rod moving member 50b is disposed on the other side of the shaft 10 in a direction orthogonal to the axial direction of the shaft 10. Thus, since the second portion 53a and the second portion 53b are disposed on different sides with respect to the shaft 10, interference between the second portion 53a and the second portion 53b can be suppressed.

[0058] [Second Embodiment]

[0059] Refer to Figure 15, the surgical instrument 200 according to the second embodiment will be described. In the surgical instrument 200, the shaft 110 has a hole 111. The A1 side on the shaft 110 side of the tube 81 is inserted from the opening 111a of the hole 111 of the shaft 110 and is a free end. The rod moving member 50 and the tube 81 are fixed, and the tube 81 moves inside the hole 111 of the shaft 110 together with the rod moving member 50. The elastic member 82 is disposed inside the hole 111 of the shaft 110 on the A1 side on the shaft 110 side of the tube 81 and covers the outer periphery of the rod 40. Specifically, in the shaft 110, a groove 112a for disposing the elastic member 82 is formed in a portion on the A2 side of the grooved tube 112 of the shaft 110. In addition, the outer periphery of the grooved tube 112 is covered by an outer tube 113. The elastic member 82 is disposed in the hole 111 formed by the space surrounded by the groove 112a and the outer tube 113. The diameter of the portion 111b on the A2 side of the hole 111 for disposing the elastic member 82 is larger than the diameter of the portion 111c on the A1 side of the hole 111. The proximal end on the A2 side of the tube 81 is fixed to the rod moving member 50. When the rod moving member 50 moves toward the A1 side, the tube 81 is inserted into the hole 111 and the elastic member 82 contracts. When the rod moving member 50 moves toward the A2 side, the tube 81 slides inside the hole 111 and the elastic member 82 expands.

[0060] [Effects of the Second Embodiment]

[0061] Inside the hole 111 of the shaft 110, an elastic member 82 that covers the outer periphery of the rod 40 is disposed on the shaft 110 side of the tube 81. Therefore, buckling of the rod 40 inside the shaft 110 can be suppressed by the elastic member 82. In addition, since the elastic member 82 is disposed inside the shaft 110, the rod moving member 50 can be miniaturized compared to the case where the elastic member 82 is disposed inside the rod moving member 50.

[0062] [Modification Example]

[0063] In addition, the embodiments disclosed this time should be considered illustrative in all aspects rather than restrictive. The scope of the present disclosure is shown by the claims rather than the description of the above embodiments, and includes all changes (modification examples) within the meaning and scope equivalent to the claims.

[0064] In the above first and second embodiments, an example in which both the tube 81 and the elastic member 82 are disposed to suppress buckling of the rod 40 is shown, but the present disclosure is not limited thereto. For example, only the tube 81 may be disposed to suppress buckling of the rod 40.

[0065] In the above-described first and second embodiments, an example is shown in which two rods 40 are respectively connected to the rod moving member 50a and the rod moving member 50b. However, the present disclosure is not limited thereto. For example, only one rod 40 may be respectively connected to the rod moving member 50a and the rod moving member 50b. Additionally, three or more rods 40 may be respectively connected to the rod moving member 50a and the rod moving member 50b.

[0066] In the above-described first and second embodiments, an example is shown in which the elastic member 82 is constituted by a compression coil spring. However, the present disclosure is not limited thereto. The elastic member 82 may be, for example, a soft tube that can be stretched and contracted other than a compression coil spring.

[0067] In the above-described first and second embodiments, an example is shown in which both the rod moving member 50a and the rod moving member 50b are moved by one drive unit 61. However, the present disclosure is not limited thereto. For example, drive units 61 may be respectively arranged for the rod moving member 50a and the rod moving member 50b.

[0068] In the above-described first and second embodiments, an example is shown in which the present disclosure is applied to the surgical instrument 100. However, the present disclosure is not limited thereto. For example, the present disclosure may be applied to a mechanism having a bending portion other than the surgical instrument 100.

[0069] In the above-described first and second embodiments, an example is shown in which the drive mechanism 70 includes a ball screw 73, a moving body 74, and a moving body 75. However, the present disclosure is not limited thereto. For example, as in the drive mechanism 310 of the surgical instrument 400 according to the modified example shown, the drive mechanism 310 may also include a pinion 311. Moreover, racks 321 are respectively arranged on a pair of rod moving members 320. As Figure 16 shown, the pinion 311 rotates by a drive unit (not shown), so that the pair of rod moving members 320 move. Additionally, as Figure 17 shown, the pair of rod moving members 320 are respectively supported by linear motion mechanisms 330. Figure 18

[0070] In the above-described first embodiment, an example is shown in which buckling of the rod 40 in the groove 12a is prevented by the outer tube 11, the groove 12a of the grooved tube 12, and the spacer 15. However, the present disclosure is not limited thereto. For example, the rod 40 arranged in the groove 12a of the grooved tube 12 may be surrounded by a catheter to prevent buckling of the rod 40 in the groove 12a.

[0071] In the above-described first embodiment, an example is shown in which both the A1 side and the A2 side of the elastic member 82 are free ends that are not fixed. However, the present disclosure is not limited thereto. For example, one of the A1 side and the A2 side of the elastic member 82 may be a free end and the other may be a fixed end.​

[0072] [Configuration]

[0073] Those skilled in the art can understand that the above exemplary embodiments are specific examples of the following configurations.

[0074] (Configuration 1)

[0075] A surgical instrument, comprising:

[0076] A shaft;

[0077] A bending portion connected to the front end of the above shaft;

[0078] An end effector disposed at the front end of the above bending portion;

[0079] A rod inserted into the interiors of the above shaft and the above bending portion, with its front end fixed to the end effector side of the above bending portion;

[0080] A rod moving member to which the base end of the above rod is fixed;

[0081] A drive unit that reciprocally moves the above rod moving member in the axial direction of the above shaft; and

[0082] A tube into which the above rod is inserted and disposed between the above rod moving member and the above shaft,

[0083] The above tube is inserted into a hole of the above rod moving member.

[0084] (Configuration 2)

[0085] The surgical instrument according to Configuration 1, wherein

[0086] A portion of the above rod on the rod moving member side is inserted into a hole of the above rod moving member,

[0087] The above surgical instrument further includes an elastic member that is disposed between the base end of the above rod and the above tube in the hole of the above rod moving member and covers the outer periphery of the above rod.

[0088] (Configuration 3)

[0089] The surgical instrument according to Configuration 2, wherein

[0090] The above elastic member includes a compression coil spring,

[0091] The pitch of the natural length of the above compression coil spring is less than or equal to the bending length of the above rod.

[0092] (Configuration 4)

[0093] The surgical instrument according to Configuration 3, wherein

[0094] The above surgical instrument further includes a fixing portion for fixing the axial side of the above tube.

[0095] The axial side of the above tube is inserted into the hole of the above rod moving member and is a free end.

[0096] The above rod moving member moves relative to the above tube.

[0097] (Configuration 5)

[0098] The surgical instrument according to any one of Configurations 1 to 3, wherein

[0099] The above shaft has a hole.

[0100] The axial side of the above tube is inserted from the opening of the hole of the above shaft and is a free end that moves relative to the opening of the above shaft.

[0101] The rod moving member side of the above tube is fixed to the above rod moving member.

[0102] The above surgical instrument further includes an elastic member, which is disposed on the axial side of the above tube inside the hole of the above shaft and covers the outer periphery of the above rod.

[0103] (Configuration 6)

[0104] The surgical instrument according to any one of Configurations 1 to 5, wherein

[0105] A pair of the above rod moving members are arranged.

[0106] A plurality of the above rods and the above tubes are arranged corresponding to the pair of the above rod moving members.

[0107] The above driving portion is composed of one motor.

[0108] The above surgical instrument further includes a driving mechanism, which, by the driving force of the one motor, moves one of the pair of the above rod moving members in one direction of the axial direction of the above shaft and moves the other of the pair of the above rod moving members in the other direction of the axial direction of the above shaft.

[0109] (Configuration 7)

[0110] The surgical instrument according to Configuration 6, wherein

[0111] Each of the pair of the above rod moving members includes:

[0112] A first part, which is connected to the above driving mechanism; and

[0113] A second part, which is connected to the first part and is connected to the above rod.

[0114] The respective first portions of the pair of rod moving members are arranged in series along the axial direction of the shaft.

[0115] The second portion of one of the pair of rod moving members is arranged on one side of the shaft in a direction orthogonal to the axial direction of the shaft.

[0116] The second portion of the other of the pair of rod moving members is arranged on the other side of the shaft in a direction orthogonal to the axial direction of the shaft.

Claims

1. A surgical instrument, wherein, Comprising: A shaft; A bending portion connected to the front end of the shaft; An end effector disposed at the front end of the bending portion; A rod inserted inside the shaft and the bending portion, with its front end fixed to the end effector side of the bending portion; A rod moving member to which the proximal end of the rod is fixed; A driving portion that reciprocally moves the rod moving member in the axial direction of the shaft; and A tube into which the rod is inserted and disposed between the rod moving member and the shaft, The tube is inserted into a hole of the rod moving member.

2. The surgical instrument according to claim 1, wherein, A portion of the rod on the rod moving member side is inserted into the hole of the rod moving member, The surgical instrument further includes an elastic member that is disposed between the proximal end of the rod and the tube in the hole of the rod moving member and covers the outer periphery of the rod.

3. The surgical instrument according to claim 2, wherein, The elastic member includes a compression coil spring, The pitch of the compression coil spring in its natural length is less than or equal to the buckling length of the rod.

4. The surgical instrument according to claim 3, wherein, The surgical instrument further includes a fixing portion that fixes the shaft side of the tube, The rod moving member side of the tube is inserted into the hole of the rod moving member and is a free end, The rod moving member moves relative to the tube.

5. The surgical instrument according to claim 1, wherein, The shaft has a hole, The shaft side of the tube is inserted from the opening of the hole of the shaft and is a free end that moves relative to the opening of the hole of the shaft, The rod moving member side of the tube is fixed to the rod moving member, The surgical instrument further includes an elastic member that is disposed on the shaft side of the tube inside the hole of the shaft and covers the outer periphery of the rod.

6. The surgical instrument according to claim 1, wherein, A pair of the rod moving members are provided, A plurality of the rods and the tubes are provided corresponding to the pair of rod moving members, The driving portion is constituted by one motor, The surgical instrument further includes a driving mechanism that, by the driving force of the one motor, moves one of the pair of rod moving members in one direction of the axial direction of the shaft and moves the other of the pair of rod moving members in the other direction of the axial direction of the shaft.

7. The surgical instrument according to claim 6, wherein, Each of the pair of rod moving members includes: A first portion connected to the driving mechanism; and A second portion connected to the first portion and connected to the rod, The respective first portions of the pair of rod moving members are arranged in series along the axial direction of the shaft, The second portion of one of the pair of rod moving members is disposed on one side of the shaft in a direction orthogonal to the axial direction of the shaft, The second portion of the other of the pair of rod moving members is disposed on the other side of the shaft in a direction orthogonal to the axial direction of the shaft.

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