Forceps device

Abstract

To enable a control body for controlling an end effector of a forceps device to be easily and properly attached and detached.SOLUTION: A forceps device comprises: an end effector capable of performing a predetermined operation on a target object; a shaft portion on which the end effector is disposed at a distal end side; a control body 63 connected to the end effector and inserted into the shaft portion; a chuck portion 9 which is slidable in an axial direction of the shaft portion and attachable / detachable to / from the control body 63 according to an axial position; and handles 81a, 82. The handles 81a, 82 are connected to the chuck portion 9, and by sliding the chuck portion 9 in the axial direction of the shaft portion, attachment / detachment between the chuck portion 9 and the control body 63 is operable, and further, by sliding the chuck portion 9 in the axial direction of the shaft portion, the end effector 7 can be operated via the control body 63 attached to the chuck portion 9.SELECTED DRAWING: Figure 13

Description

[Technical Field]

[0001] The present disclosure relates to a forceps device. [Background technology]

[0002] A forceps device is a known medical device used to cut or grasp tissue in the affected area of ​​a patient. In endoscopic surgery, an endoscopic camera equipped with a high-resolution camera is used, and the operator performs the procedure using the forceps device through a monitor.

[0003] Known forceps devices include one part of the device that is reusable and one part of the device that is disposable. Patent Document 1 discloses a partially reusable device in which the disposable part is detachable. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special Publication No. 2011-509112 Summary of the Invention [Problem to be solved by the invention]

[0005] A forceps device is required to be easily replaceable when replacing an end effector, etc. Since a forceps device is operated by an operator with one hand, it is also required to reduce the number of parts and make it lightweight.

[0006] The present disclosure has been made in response to the above demand, and its purpose is to provide a technology that allows for easy and appropriate attachment and detachment of a control body that controls an end effector of a forceps device. [Means for solving the problem]

[0007] To achieve this object, a forceps device according to a first aspect includes an end effector capable of performing a predetermined operation on an object, a shaft portion having the end effector disposed at a distal end thereof, a control body connected to the end effector and inserted into the shaft portion, a chuck portion slidable in the axial direction of the shaft portion and capable of attaching and detaching the control body according to its position in the axial direction, and a handle connected to the chuck portion, which enables attachment and detachment of the chuck portion and the control body by sliding the chuck portion in the axial direction of the shaft portion, and which enables operation of the end effector via the control body attached to the chuck portion by sliding the chuck portion in the axial direction of the shaft portion. With this forceps device, an operator can easily attach and detach the control body by operating the handle.

[0008] In the forceps device, the chuck portion may have a stopper that enables engagement with and disengagement from the control body depending on the axial position. According to this forceps device, the stopper allows the chuck portion to be attached to and detached from the control body.

[0009] In the forceps device, the control body may be attached to the chuck portion in a state where the control body is allowed to rotate relative to the chuck portion around the axis. According to this forceps device, the control body can be rotated relative to the chuck portion.

[0010] In the forceps device, the position at which the chuck portion can be detached from the control body may be outside the range of movement of the chuck portion when the end effector can be operated via the control body attached to the chuck portion. With this forceps device, it is possible to prevent the chuck portion from detaching from the control body within the range of movement in which the end effector can be operated.

[0011] The forceps device may further include a limiting portion that limits movement of the control body toward the distal end when the end effector is operable via the control body attached to the chuck portion so that the chuck portion does not reach a position where it can be detached from the control body. According to this forceps device, the position of the chuck portion can be limited so that it does not reach a position where it can be detached from the control body.

[0012] The forceps device may further include a handle state maintaining unit that maintains the handle in a position for attaching the control body to the chuck portion. With this forceps device, the chuck portion can be appropriately maintained in a position for attaching the control body.

[0013] In the above forceps device, the chuck portion includes a plurality of balls, a hollow sleeve extending in the axial direction into which the control body can be inserted, the sleeve having a plurality of through holes through which the plurality of balls can protrude in an inner diameter direction, and a cylindrical outer tube portion capable of accommodating the sleeve, the outer tube portion having a small inner diameter portion that is spaced apart from the outer circumference of the sleeve in the axial direction, and a large inner diameter portion that is spaced apart from the outer circumference of the sleeve in the axial direction, and the control body has an annular groove portion that positions the through hole of the sleeve and the small inner diameter portion of the outer tube portion opposite each other, thereby restricting the ball to protrude from the through hole into the inner diameter of the sleeve, thereby engaging the ball with the groove portion, and the chuck portion and the control body are attached, and the through hole of the sleeve and the large inner diameter portion of the outer tube portion are positioned opposite each other, thereby restricting the ball to protrude from the through hole into the inner diameter of the sleeve, thereby disengaging the ball from the groove portion, and allowing the control body to be removed from the chuck portion. According to this forceps device, the control body can be appropriately attached to the chuck portion and detached from the chuck portion depending on the positional relationship between the sleeve and the outer cylindrical portion. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a side view of the forceps device according to one embodiment with gripping pieces in a closed state. FIG. [Figure 2] FIG. 2 is a cross-sectional view of the forceps device in the state shown in FIG. 1. [Figure 3] FIG. 2 is an exploded perspective view of a chuck portion of the forceps device. [Figure 4] FIG. 10 is a first partial cross-sectional view of the distal end side of the forceps device when the gripping pieces are in a closed state. [Figure 5] FIG. 10 is a second partial cross-sectional view of the distal end side of the forceps device when the gripping pieces are in a closed state. [Figure 6] FIG. 10 is a first partial cross-sectional view of the distal end side of the forceps device with the gripping pieces in an open state. [Figure 7] FIG. 10 is a second partial cross-sectional view of the distal end side of the forceps device with the gripping pieces in an open state. [Figure 8] FIG. 10 is a partial cross-sectional view of the base end side of the forceps device with the gripping pieces in an open state. [Figure 9] FIG. 9 is a cross-sectional view taken along line AA in FIG. 8. [Figure 10] FIG. 10 is a partial cross-sectional view of the base end side of the forceps device when the gripping pieces are in a closed state. [Figure 11] 10 is a partial cross-sectional view of the base end side of the forceps device in a state where the control body is not connected. FIG. [Figure 12] FIG. 10 is a partial cross-sectional view of the proximal end side of the forceps device in a state where the control body is ready to be connected. [Figure 13] FIG. 10 is a partial cross-sectional view of the base end side of the forceps device in the middle of connecting the control body. [Figure 14] FIG. 14 is a cross-sectional view taken along line BB in FIG. [Figure 15] 10 is a partial cross-sectional view of the base end side of the forceps device immediately after the control body is connected. FIG. [Figure 16] FIG. 10 is a partial cross-sectional view of the proximal end side of the forceps device in a state where the control body is ready to be released. [Figure 17] FIG. 10 is a partial cross-sectional view of the base end side of the forceps device when the control body is being released. DETAILED DESCRIPTION OF THE INVENTION

[0015] A forceps device according to an embodiment will be described with reference to the drawings. The present disclosure is not limited to the embodiments shown in the drawings. The forceps device shown in each drawing is shown with exemplary dimensions to facilitate understanding of the implementation, and the actual dimensions are not limited to these. In this specification, the terms "distal side" and "distal direction" refer to the side and direction of the part of the forceps device that is inserted into a body cavity. The terms "proximal side" and "proximal direction" refer to the side and direction of the handle that applies power to operate the forceps device. The term "distal" refers to the distal end of any member or part, and the term "proximal end" refers to the proximal end of any member or part.

[0016] FIG. 1 is a side perspective view of a forceps device according to one embodiment with the gripping pieces in a closed state. FIG. 2 is a cross-sectional view of the forceps device in the state shown in FIG. 1. When describing the directions in the figures, the X-axis, Y-axis, and Z-axis shown in the figures are used as appropriate. The X-axis, Y-axis, and Z-axis directions in each figure indicate the same direction. The X-axis indicates the longitudinal direction of the forceps device 1 when the forceps device 1 is in the reference state shown in FIG. 1, with the positive direction of the arrow indicating the X-axis indicating the distal end side, and the opposite, negative direction of the X-axis indicating the proximal end side. The Z-axis direction is the vertical direction of the forceps device 1 in the reference state, and the Y-axis is the lateral direction perpendicular to the longitudinal direction. The Z-axis direction is sometimes referred to as the up-down direction, and the Y-axis direction is sometimes referred to as the left-right direction or lateral direction.

[0017] The forceps device 1 includes a main body 2, a shaft 6, an end effector 7, and an operating unit 8. The end effector 7 is located at the distal end of the shaft 6 and is used to grasp an object. The end effector 7 has gripping pieces 71 and 72, which can open and close the gripping pieces 71 and 72 and rotate around the axis of the shaft 6. By rotating the end effector 7, the opening and closing plane of the gripping pieces 71 and 72 of the end effector 7 can be adjusted. The shaft 6 connects the end effector 7 to the main body 2. A control body 63 is connected to the proximal end of the end effector 7, transmitting power for the opening, closing, and rotating movements of the end effector 7. The control body 63 includes at least one of a hypotube with a polygonal outer shape, a cylindrical hypotube, a wire rope, a hollow rope, etc., and is disposed within the shaft 6 and the main body 2. The control body 63 has an annular groove 63a on the base end side thereof, which is used for engagement with the chuck portion 9, which will be described later.

[0018] The shaft portion 6 has a main shaft 61 and a bending portion 62. The main shaft 61 has a cylindrical shape. The bending portion 62 can be in a straight state along the axial direction of the main shaft 61 or in a bent state in which it is bent in a predetermined direction. The shaft portion 6 is rotatable about the X-axis relative to the main body portion 2. By rotating the shaft portion 6, the bending direction of the bending portion 62 can be adjusted.

[0019] The main body 2 is connected to the base end of the shaft 6. The main body 2 includes a bending dial 31, a worm 32, a worm wheel 33, an end effector rotation dial 34, and a main shaft dial 35. The bending dial 31 is a dial that an operator operates to perform a bending / stretching operation, such as straightening or bending the bending portion 62 relative to the main shaft 61. The worm 32 is disposed so that its rotation axis is in the Z-axis direction, and the bending dial 31 is fixed to both ends of the Z-axis so as to be rotatable integrally. The worm wheel 33 is disposed so that its teeth mesh with the worm 32. When the worm 32 rotates about the Z-axis, the worm wheel 33 rotates about the Y-axis. When the worm wheel 33 rotates, the length of a pair of operating lines connected to the bending portion 62 is adjusted, thereby bending or stretching the bending portion 62.

[0020] The end effector rotation dial 34 is a disk-shaped dial that allows the operator to control the rotational movement of the end effector 7. The end effector rotation dial 34 is arranged so that its rotation axis is the X-axis. The end effector rotation dial 34 has a through-hole in the center that corresponds to the outer shape of the control body 63, and is capable of rotating integrally with the control body 63. The outer shape of the portion of the control body 63 that engages with the end effector rotation dial 34 is not circular but angular. When the end effector rotation dial 34 is rotated, the control body 63 rotates integrally, and as a result, the end effector 7 connected to the control body 63 also rotates. The main shaft dial 35 is a dial that causes the shaft portion 6 to rotate.

[0021] The operating unit 8 is connected to the base end side of the main body 2, and is a part that is operated by the operator to open and close the end effector 7 and to attach and detach the control body 63 that transmits power to the end effector 7. The operating unit 8 includes an operating unit main body 81, a handle 82, a chuck 9, a ratchet teeth portion 83, a ratchet release lever 84, a spring 85, and a pin 86.

[0022] The operation unit main body 81 is provided with a handle 81a and a sleeve support portion 81b. The handle 81a is a portion into which the index finger and middle finger of one hand are inserted to hold the forceps device 1 and to apply a driving force for opening and closing the end effector 7 and an operation for attaching and detaching the control body 63. The sleeve support portion 81b supports a chuck sleeve 91 (described later) of the chuck unit 9 so that the chuck sleeve 91 can slide in the X-axis direction.

[0023] The handle 82 is a portion into which the thumb of the same hand as the fingers used with the handle 81a is inserted to hold the forceps device 1, apply a driving force for opening and closing the end effector 7, and perform the attachment and detachment operation of the control body 63. In this embodiment, both the opening and closing operations and the attachment and detachment operations can be performed using the handles 82 and 81a, thereby reducing the number of parts and the weight of the forceps device 1. The handle 82 is rotatably attached to the operation unit main body 81 via a pin 86, and the angle between the handle 81a and the handle 81a is adjustable. A ratchet teeth portion 83 is attached to the handle 82. The handle 82 has a pin 82a that is received in a handle pin hole 91e of the chuck portion 9. When the handle 82 is rotated, the chuck portion 9 slides in the X-axis direction via the pin 82a.

[0024] In this embodiment, when the handle 82 is rotated in a direction that reduces the angle between it and the handle 81a, the chuck portion 9 moves in the negative direction of the X-axis, and if the control body 63 is connected to the chuck portion 9, the control body 63 is moved in the negative direction of the X-axis, causing the gripping pieces 71, 72 of the end effector 7 to move in the closing direction.

[0025] The ratchet teeth row portion 83 has a plurality of ratchet teeth 83a arranged thereon.

[0026] A ratchet release lever 84 is attached to the operation unit main body 81. The ratchet release lever 84 is provided with a ratchet pawl 84a that engages with the ratchet teeth 83a of the ratchet teeth section 83. By engaging with the ratchet teeth 83a of the ratchet teeth section 83, the ratchet pawl 84a restricts the gripping pieces 71, 72 of the end effector 7 of the handle 82 from rotating in an opening direction, and allows the gripping pieces 71, 72 of the end effector 7 of the handle 82 to rotate in a closing direction. The ratchet release lever 84 is pressed by a spring 85 in a direction in which the ratchet pawl 84a engages with the ratchet teeth 83a of the ratchet teeth section 83.

[0027] When the ratchet release portion 84b on the tip side of the ratchet release lever 84 is pressed down, the ratchet pawl 84a rotates in a direction away from the ratchet teeth 83a of the ratchet tooth row portion 83. This releases the engagement between the ratchet pawl 84a and the ratchet teeth 83a, allowing the handle 82 to rotate in a direction that opens the gripping pieces 71, 72 of the end effector 7.

[0028] A detailed description will be given of the chuck portion 9 of the operation portion 8. Fig. 3 is an exploded perspective view of the chuck portion of the forceps device.

[0029] The chuck portion 9 includes a chuck sleeve 91 , four balls 92 , a retaining ring 93 , a spring 94 , and an outer cylindrical portion 95 .

[0030] The chuck sleeve 91 has, in order from the base end, a base end 91a, a large-diameter portion 91b, a medium-diameter portion 91c, and a small-diameter portion 91d. The base end 91a is polygonal and has a handle pin hole 91e into which the pin 82a of the handle 82 is inserted. The handle pin hole 91e has an opening extending in the negative X-axis direction and the negative Z-axis direction on a plane perpendicular to the Y-axis. When the handle 82 rotates, the pin 82a moves through the handle pin hole 91e, and the chuck sleeve 91 slides in the X-axis direction. The large-diameter portion 91b is a cylindrical portion. In a portion of the tip end where the control body 63 may reach, a hole extending in the X-axis direction is formed. The medium-diameter portion 91c is a cylindrical portion with an outer diameter smaller than that of the large-diameter portion 91b, and its inner diameter is approximately the same as the diameter of the control body 63.

[0031] The small-diameter portion 91d is a cylindrical portion having an outer diameter smaller than that of the medium-diameter portion 91c, and its inner diameter is approximately the same as the diameter of the control body 63. The small-diameter portion 91d has four ball receiving holes 91g formed on the same outer circumference in the X-axis direction. The ball receiving holes 91g are through-holes that penetrate from the outer circumference to the inner circumference and are capable of receiving the balls 92. The diameter of the opening of the ball receiving hole 91g on the inner circumference side of the small-diameter portion 91d is large enough to prevent the balls 92 from falling out toward the radial center of the small-diameter portion 91d. The ball receiving hole 91g is shaped so that, when the balls 92 are fully received in the small-diameter portion 91d, the innermost portion of the balls 92 protrudes inward beyond the inner circumference of the small-diameter portion 91d, and the outermost portion of the balls 92 is flush with the outer circumference of the small-diameter portion 91d. A retaining ring groove 91h for attaching a retaining ring 93 is formed in the small-diameter portion 91d, closer to the tip of the ball receiving hole 91g.

[0032] The ball 92 is a spherical member whose position and size relative to the ball receiving hole 91g of the small diameter portion 91d satisfy the above-described relationship, and is an example of a stopper. The spring 94 is disposed on the outer periphery of the chuck sleeve 91 so that its base end contacts a step 91f between the large diameter portion 91b and the medium diameter portion 91c of the chuck sleeve 91. The retaining ring 93 is fitted in a retaining ring groove 91h and prevents the spring 94 and the outer cylindrical portion 95, which are disposed on the outer periphery of the chuck sleeve 91, from falling off the chuck sleeve 91.

[0033] The outer cylindrical portion 95 has, in order from the base end side, a small diameter portion 95a and a large diameter portion 95b. The small diameter portion 95a is a cylindrical portion, and the inner diameter of an inner periphery 95c (an example of a small inner diameter portion) is the same as the outer diameter of a small diameter portion 91d of the chuck sleeve 91. The large diameter portion 95b is also a cylindrical portion. The inner diameter of an inner periphery 95d (an example of a large inner diameter portion) on the base end side of the large diameter portion 95b is larger than the inner diameter of the inner periphery 95c. When the inner periphery 95d is positioned opposite the ball receiving hole 91g, the innermost portion of the ball 92 received in the ball receiving hole 91g can be positioned outside the inner circumferential surface of the small diameter portion 91d. The inner diameter of an inner periphery 95e on the tip side of the large diameter portion 95b is larger than the inner diameter of the inner periphery 95d and is larger than the diameter of the retaining ring 93.

[0034] The chuck portion 9 is created as follows. First, four balls 92 are accommodated in the ball accommodating holes 91g of the chuck sleeve 91. Next, the spring 94 is attached to the outer periphery of the chuck sleeve 91 from the tip side, and then the outer tubular portion 95 is attached to the outer periphery of the chuck sleeve 91 from the tip side of the chuck sleeve 91. With the outer tubular portion 95 moved toward the base end of the chuck sleeve 91 to compress the spring 94, the retaining ring 93 is fitted into the retaining ring groove 91h. As a result, the chuck portion 9 is created.

[0035] In the chuck 9, when no force is applied to the outer cylindrical portion 95 in the negative direction of the X-axis, the repulsive force of the spring 94 causes the outer cylindrical portion 95 to contact the retaining ring 93. In this state, the inner periphery 95c of the outer cylindrical portion 95 is positioned facing the ball receiving hole 91g of the small diameter portion 91d. As a result, the outer periphery of the ball 92 received in the ball receiving hole 91g is restricted by the inner periphery 95c, and the inner periphery of the ball 92 protrudes inward beyond the inner periphery of the small diameter portion 91d. At this time, if the ball 92 is engaged with the groove 63a of the control body 63, the chuck 9 and control body 63 remain connected.

[0036] In the chuck 9, when a force is applied to the outer cylindrical portion 95 in the negative direction of the X axis, the applied force compresses the spring 94, causing the outer cylindrical portion 95 to move further toward the negative side of the X axis than the retaining ring 93. In this state, the inner periphery 95d of the outer cylindrical portion 95 is positioned facing the ball receiving hole 91g of the small diameter portion 91d. Therefore, the ball 92 received in the ball receiving hole 91g can move outward until it contacts the inner periphery 95d, and may not protrude inward beyond the inner periphery of the small diameter portion 91d. In this state, the control body 63 can be inserted and removed from the inner periphery of the small diameter portion 91d.

[0037] The configurations and operations of the shaft portion 6 and end effector 7 of the forceps device 1 will be described in detail. Fig. 4 is a first partial cross-sectional view of the distal end side of the forceps device when the gripping pieces are closed. Fig. 5 is a second partial cross-sectional view of the distal end side of the forceps device when the gripping pieces are closed. Fig. 6 is a first partial cross-sectional view of the distal end side of the forceps device when the gripping pieces are open. Fig. 7 is a second partial cross-sectional view of the distal end side of the forceps device when the gripping pieces are open. The cross-sections of Figs. 4 and 6 and the cross-sections of Figs. 5 and 7 are located at different cross-sectional positions in the Y-axis direction.

[0038] The bending portion 62 has a bending portion main body 62a and a bending portion tip portion 62b connected to the tip side of the bending portion main body 62a so as to be rotatable about the X-axis. The bending portion tip portion 62b is immovable in the positive direction of the X-axis relative to the bending portion main body 62a.

[0039] The end effector 7 has gripping pieces 71 and 72, an end effector main body 73, and a fulcrum pin 74. The end effector main body 73 is a hollow member, and the gripping pieces 71 and 72 are attached to its tip end. The end effector main body 73 houses a control body 63 and a tip end portion 64 connected to the tip of the control body 63 on its base end side so that they can move in the X-axis direction. The movement range of the control body 63 and the tip end portion 64 in the X-axis direction is limited. The tip end portion 64 has a pin 64a and the like on its tip end for opening and closing the gripping pieces 71 and 72.

[0040] The end effector body 73 is fixed at its base end to the bending portion distal end 62b via a screw 65. The end effector body 73 is rotatable about the X-axis and is immovable in the positive direction of the X-axis. When removing the end effector 7 and the control body 63 from the forceps device 1, the screw 65 must be removed.

[0041] The gripping piece 71 is rotatably fixed to the end effector main body 73 via a fulcrum pin 74. The gripping piece 71 has a pin hole 71a at its base end into which the pin 64a is inserted. In the state shown in Figure 5, the pin hole 71a has an opening that extends in the positive direction of the X axis and the negative direction of the Z axis. The gripping piece 72 has a similar configuration to the gripping piece 71 on the back side in Figure 5.

[0042] 4 and 5, when control body 63 is moved in the positive direction of the X-axis, pin 64a of tip 64 is moved in the positive direction of the X-axis along with control body 63. The movement of pin 64a in the positive direction of the X-axis causes gripping piece 71 to rotate in a direction that opens up between gripping piece 72. Similarly, gripping piece 72 rotates in a direction that opens up between gripping piece 71. As a result, gripping pieces 71 and 72 are in the state shown in FIGS. 6 and 7.

[0043] 6 and 7, when control body 63 is moved in the negative direction of the X-axis, pin 64a of tip 64 is moved in the negative direction of the X-axis along with control body 63. The movement of pin 64a in the negative direction of the X-axis causes gripping piece 71 to rotate in a direction that closes the gap between gripping piece 72. Similarly, gripping piece 72 rotates in a direction that closes the gap between gripping piece 71. As a result, gripping pieces 71 and 72 reach the state shown in FIGS. 4 and 5, i.e., a state in which they can grip an object.

[0044] A detailed description will be given of the state of the base end side when the gripping pieces of the forceps device 1 are in an open state. Fig. 8 is a partial cross-sectional view of the base end side when the gripping pieces of the forceps device are in an open state, and Fig. 9 is a cross-sectional view taken along line AA in Fig. 8.

[0045] The control body 63 and the chuck portion 9 are connected as shown in FIGS. 8 and 9. Specifically, as shown in FIG. 9, the ball receiving hole 91g in the small diameter portion 91d of the chuck sleeve 91 faces the inner periphery 95c of the outer cylindrical portion 95. In this state, the outer periphery of the ball 92 received in the ball receiving hole 91g is restricted by the inner periphery 95c of the outer cylindrical portion 95, and the ball 92 protrudes toward the inner periphery of the small diameter portion 91d and engages with the groove 63a of the control body 63. As a result, the control body 63 and the chuck portion 9 are connected so as to be slidable integrally in the X-axis direction. Because the control body 63 and the chuck portion 9 are connected by the groove 63a and the ball 92, the control body 63 is rotatable relative to the chuck portion 9 around the X-axis.

[0046] Since the control body 63 and the chuck portion 9 are connected, by operating the handles 81a, 82, the control body 63 can be slid in the X-axis direction via the chuck portion 9, thereby controlling the open / closed state of the gripping pieces 71, 72.

[0047] 8, the gripping pieces 71, 72 are in an open state. In this state, the ratchet teeth 83a of the ratchet teeth section 83 and the ratchet pawl 84a of the ratchet release lever 84 are engaged, and the operator can only operate the handle 82 in a direction toward the handle 81a, i.e., in a direction to close the gripping pieces 71, 72. By operating the end effector rotation dial 34, the control body 63 can be rotated, and the end effector 7 can be rotated.

[0048] A detailed description will be given of the state when the handle 82 is operated to close the gripping pieces in the forceps device 1. Fig. 10 is a partial cross-sectional view of the base end side of the forceps device in the state where the gripping pieces are closed.

[0049] When the handles 81a and 82 are operated to move the handle 82 closer to the handle 81a, the chuck portion 9 and the control body 63 are moved in the negative direction of the X-axis, thereby causing the gripping pieces 71 and 72 to move so as to close the gap between them.

[0050] The operation of connecting the chuck portion 9 and the control body 63 in the forceps device 1 will be described in detail. Fig. 11 is a partial cross-sectional view of the base end side of the forceps device when the control body is not connected, and Fig. 12 is a partial cross-sectional view of the base end side in a state where the control body of the forceps device is ready to be connected. Fig. 13 is a partial cross-sectional view of the base end side of the forceps device when the control body is being connected, and Fig. 14 is a cross-sectional view taken along line BB in Fig. 13. Fig. 15 is a partial cross-sectional view of the base end side of the forceps device immediately after the control body has been connected.

[0051] In the initial state where the control body 63 is not connected to the forceps device 1, that is, when the control body 63 and the end effector 7 are not connected to the forceps device 1, the control body 63 is not present in the chuck portion 9, as shown in Figure 11.

[0052] When connecting the control body 63 in the forceps device 1, the operator releases the engagement between the ratchet pawl 84a and the ratchet teeth 83a by pressing down the ratchet release portion 84b of the ratchet release lever 84. Next, the operator rotates the handle 82 in a direction away from the handle 81a and stops pressing down the ratchet release portion 84b, thereby achieving the state shown in FIG.

[0053] In this state, the dial base end 34a of the end effector rotation dial 34 comes into contact with the surface of the tip side of the outer cylindrical portion 95 of the chuck portion 9, and the outer cylindrical portion 95 moves in the negative direction of the X-axis against the pressure of the spring 94. The ball receiving hole 91g of the small diameter portion 91d faces the inner periphery 95d of the outer cylindrical portion 95, and the ball 92 received in the ball receiving hole 91g can move outward until it contacts the inner periphery 95d. The ball 92 can be in a state where it does not protrude inward beyond the inner periphery of the small diameter portion 91d. This allows the control body 63 to be easily inserted into the small diameter portion 91d.

[0054] In this state, the release position restriction surface 83b of the ratchet teeth portion 83 and the base end side surface of the ratchet pawl 84a of the ratchet release lever 84 are in contact, and the state shown in Figure 12 is maintained unless a relatively strong force is applied to the handle 82. This makes it easy to perform the connecting operation of the control body 63. The release position restriction surface 83b of the ratchet teeth portion 83 and the ratchet pawl 84a of the ratchet release lever 84 correspond to a handle state maintaining portion.

[0055] 12, when the operator inserts the control body 63 and the end effector 7 into the forceps device 1 from the distal end side and fixes the end effector body 73 of the end effector 7 to the bending portion distal end 62b with the screw 65, the proximal end side of the control body 63 is inserted into the small diameter portion 91d and the medium diameter portion 91c of the chuck portion 9, as shown in FIG. 13. In this case, the groove portion 63a of the control body 63 reaches further on the negative side of the X-axis than the ball receiving hole 91g.

[0056] In the state shown in Fig. 13, the control body 63 and the chuck portion 9 are in the state shown in Fig. 14. Specifically, as shown in Fig. 14, the ball receiving hole 91g in the small diameter portion 91d and the inner periphery 95d of the outer cylindrical portion 95 face each other, and the ball 92 received in the ball receiving hole 91g can move outward until it contacts the inner periphery 95d, preventing the ball 92 from protruding inward beyond the inner periphery of the small diameter portion 91d. This allows the control body 63 to be easily inserted into and removed from the small diameter portion 91d.

[0057] To connect the control body 63, the operator must rotate the handle 82 from the state shown in FIG. 13 toward the handle 81a. When the operator rotates the handle 82 toward the handle 81a, the ball receiving hole 91g in the small diameter portion 91d faces the inner periphery 95d of the outer cylindrical portion 95. Because the portion of the control body 63 other than the groove 63a is present inside the ball receiving hole 91g, the ball 92 received in the ball receiving hole 91g cannot protrude inside the small diameter portion 91d. Therefore, as shown in FIG. 15, the chuck portion 9 moves in the negative direction of the X axis while maintaining the state in which the ball receiving hole 91g in the small diameter portion 91d faces the inner periphery 95d of the outer cylindrical portion 95.

[0058] 15 , when the operator further rotates the handle 82 in a direction approaching the handle 81a, the groove 63a of the control body 63 is positioned inside the ball accommodating hole 91g of the small diameter portion 91d, and the ball 92 accommodated in the ball accommodating hole 91g protrudes inside the small diameter portion 91d and engages with the groove 63a. As a result, the outer cylinder 95 is moved in the positive direction of the X-axis by the pressure of the spring 94, the ball accommodating hole 91g of the small diameter portion 91d faces the inner periphery 95c of the outer cylinder 95, the outer periphery of the ball 92 accommodated in the ball accommodating hole 91g is restricted by the inner periphery 95c of the outer cylinder 95, the state in which the ball 92 and the groove 63a of the control body 63 are engaged is maintained, and the control body 63 and the chuck 9 are connected to be able to slide integrally in the X-axis direction.

[0059] A detailed description will be given of the operation when the control body 63 is detached from the chuck portion 9 in the forceps device 1. Fig. 16 is a partial cross-sectional view of the base end side of the forceps device in a preparation state for detaching the control body, and Fig. 17 is a partial cross-sectional view of the base end side in the middle of detaching the control body.

[0060] When detaching the control body 63 from the chuck portion 9 in the forceps device 1, the operator must press down the ratchet release portion 84b of the ratchet release lever 84 to disengage the ratchet pawl 84a from the ratchet teeth 83a, and then rotate the handle 82 in a direction away from the handle 81a.

[0061] When the handle 82 is rotated in a direction away from the handle 81a, the forceps device 1 assumes the state shown in FIG. 16 . In this state, the connection between the chuck portion 9 and the control body 63 is maintained. In this embodiment, if the end effector body 73 of the end effector 7 remains fixed to the bending portion distal end 62b by the screw 65, the handle 82 cannot be rotated further in a direction away from the handle 81a, and the control body 63 cannot be moved to a position where the control body 63 can be detached, which is located in the positive direction of the X-axis from the state shown in FIG. 16 . As such, the position where the control body 63 can be detached is outside the range of movement of the chuck portion 9 when operating the end effector 7. Therefore, to detach the chuck portion 9 and the control body 63, it is necessary to remove the screw 65 that fastens the end effector body 73 of the end effector 7 to the bending portion distal end 62b.

[0062] When the screw 65 fastening the end effector main body 73 to the bending portion distal end 62b is loosened, the handle 82 can be further rotated away from the handle 81a. In this state, as shown in FIG. 17 , the dial base end 34a of the end effector rotation dial 34 comes into contact with the distal surface of the outer cylindrical portion 95 of the chuck 9, and the ball accommodating hole 91g of the small diameter portion 91d faces the inner periphery 95d of the outer cylindrical portion 95. This allows the ball 92 accommodated in the ball accommodating hole 91g to move outward until it contacts the inner periphery 95d, preventing it from protruding inward beyond the inner periphery of the small diameter portion 91d. Therefore, the control body 63 within the small diameter portion 91d can be easily moved in the positive direction of the X-axis and removed, allowing the control body 63 and the end effector 7 to be removed from the main body 3.

[0063] The technology disclosed in this specification is not limited to the above-described embodiments and modifications, and can be modified in various forms without departing from the spirit thereof, for example, the following modifications are also possible.

[0064] In the above-described embodiment, the end effector has a function of grasping an object. However, the function of the end effector is not limited to this, and the end effector may have other functions, such as a function of cutting an object.

[0065] In the above-described embodiment, the sleeve is cylindrical and the outer tubular portion is cylindrical. However, the sleeve may be rectangular and the outer tubular portion may be a corresponding rectangular tubular portion.

[0066] In the above-described embodiment, the chuck portion is connected to the control body by four balls, but the number of balls on the chuck portion is not limited to four, and may be two or more.

[0067] The components of the forceps device 1 are not limited to those shown in the drawings, and may be, for example, a single component formed by integrating multiple components, or a single component may be divided into multiple components.

[0068] The present disclosure is not limited to the configurations of the above-described embodiments, but is intended to include all modifications within the meaning and scope of the claims as defined by the claims.

Claims

1. A forceps device (1), comprising: an end effector (7) capable of performing a predetermined action on an object; a shaft portion (6) on the distal end of which the end effector (7) is disposed; a control body (63) connected to the end effector (7) and inserted into the shaft portion (6); a chuck portion (9) that is slidable in the axial direction of the shaft portion (6) and to which the control body (63) can be attached or detached depending on the position in the axial direction; handles (81a, 82) connected to the chuck portion (9), capable of attaching and detaching the chuck portion (9) and the control body (63) by sliding the chuck portion (9) in the axial direction of the shaft portion (6), and capable of operating the end effector (7) via the control body (63) attached to the chuck portion (9) by sliding the chuck portion (9) in the axial direction of the shaft portion (6); A forceps device (1) comprising:

2. The chuck portion (9) has a stopper (92) that enables engagement with and disengagement from the control body (63) depending on the axial position. A forceps device (1) according to claim 1.

3. The chuck portion (9) can mount the control body (63) in a state where relative rotation around the axis is permitted. A forceps device (1) according to claim 1 or claim 2.

4. The position of the chuck portion (9) at which the chuck portion (9) can be detached from the control body (63) is outside the range of movement of the chuck portion (9) when the end effector (7) can be operated via the control body (63) attached to the chuck portion (9). A forceps device (1) according to any one of claims 1 to 3.

5. When the end effector (7) can be operated via the control body (63) attached to the chuck part (9), the control body (61) has limiting parts (62, 65) that limit movement of the control body (63) toward the tip side so that the chuck part (9) is not positioned at a position where the chuck part (9) can be detached from the control body (61). A forceps device (1) according to claim 4.

6. The device further includes handle state maintaining units (83, 83b, 84, 84a) that can maintain the state of the handles (81a, 82) at a position for attaching the control body (63) to the chuck unit (9). A forceps device (1) according to any one of claims 1 to 5.

7. The chuck portion (9) is a plurality of balls (92); a hollow sleeve (91) extending in the axial direction into which the control body (63) can be inserted, the sleeve (91) having a plurality of through holes (91g) through which the plurality of balls (92) can protrude in an inner radial direction; a cylindrical outer cylinder portion (95) capable of accommodating the sleeve (91), the outer cylinder portion (95) having, in the axial direction, a small inner diameter portion (95a) having a small gap between the outer periphery of the sleeve (91) and a large inner diameter portion (95b) having a large gap between the outer periphery of the sleeve (91); The control body (63) has an annular groove portion (63a), the through hole (91g) of the sleeve (91) and the small inner diameter portion (95a) of the outer cylindrical portion (95) are positioned to face each other, and the ball (92) is restricted to a state in which it protrudes from the through hole (91g) into the inner diameter of the sleeve (91), thereby engaging the ball (92) with the groove portion (63a), and attaching the chuck portion (9) and the control body (61); The through hole (91g) of the sleeve (91) and the large inner diameter portion (95b) of the outer cylindrical portion (95) are positioned to face each other, and the ball (92) is not restricted in protruding from the through hole (91g) into the inner diameter of the sleeve (91), thereby disengaging the ball (92) from the groove portion (63a) and enabling the control body (63) to be removed from the chuck portion (9). A forceps device (1) according to any one of claims 1 to 6.

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