Surgical instruments and surgical robots

Abstract

This invention provides a surgical instrument that can reliably close clips using a surgical instrument attached to a robotic arm. [Solution] The surgical instrument comprises a base 410 attached to an arm 60, a shaft 420 with one end connected to the base 410, and a pair of jaw members 431 provided at the other end of the shaft 420, which rotate around a pivot axis A2 to open and close. The opposing surfaces of the pair of jaw members 431 are provided with groove-shaped recesses 4311 for holding the clip 200. The recesses 4311 of the jaw members 431 include a first portion 431a provided on the tip side of the jaw member 431 and having a first depth D1, and a second portion 431b provided on the pivot axis A2 side of the jaw member 431 and having a second depth D2 greater than the first depth D1.

Description

Technical Field

[0001] This invention relates to surgical instruments and surgical support robots.

Background Art

[0002] Conventionally, surgical instruments attached to robotic arms are known. For example, Patent Document 1 discloses a surgical instrument including a base attached to a robotic arm, a shaft having one end connected to the base, and a pair of jaw members provided at the other end of the shaft and configured to rotate around a rotation axis to open and close. In this surgical instrument, in order to hold a clip, groove-shaped recesses having a uniform depth are provided on the opposing surfaces of the pair of jaw members.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the surgical instrument described in Patent Document 1, as mentioned above, groove-shaped recesses of uniform depth are provided on the opposing surfaces of a pair of jaw members to hold a clip. Here, the length of the jaw members is shortened in the surgical instrument attached to the robot arm so as not to reduce maneuverability. As a result, the distance from the pivot axis of the jaw member to the tip is shortened. Consequently, when opening and closing the tip of the jaw member by a predetermined distance, the opening and closing angle of the jaw member is larger compared to when the jaw member is long. Therefore, when crushing a clip while closing the jaw member, it is necessary to change the angle of the jaw member significantly. In other words, it is more difficult to close the jaw member at a nearly parallel angle compared to when the jaw member is long. As a result, when crushing a clip held by closing a pair of jaw members, it is difficult to crush the clip parallel from the tip to the bent portion. Therefore, when closing a pair of jaw members while significantly changing the rotation angle, at a stage when the jaw members are closed to a certain angle, the bent portion of the crushed clip interferes with the jaw member on the pivot axis side of the jaw member. As a result, it becomes difficult to further close the pair of jaw members because it obstructs the closing of the pair of jaw members. Consequently, it becomes difficult to securely close the clip.

[0005] This invention was made to solve the above-mentioned problems, and one of its objectives is to provide a surgical instrument and a surgical assistance robot that can reliably close a clip using a surgical instrument attached to a robotic arm. [Means for solving the problem]

[0006] To achieve the above objective, a surgical instrument according to the first aspect of this invention comprises a base body attached to a robot arm, a shaft with one end connected to the base body, and a pair of jaw members provided at the other end of the shaft, which rotate around a pivot axis to open and close. The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips. The recesses of the jaw members include a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided on the pivot axis side of the jaw member and having a second depth greater than the first depth. The recesses of the jaw members are formed such that the second portion has a substantially uniform second depth and extends in a direction toward the pivot axis side of the jaw member.

[0007] In the surgical instrument according to the first aspect of this invention, as described above, the recess of the jaw member includes a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided on the pivot axis side of the jaw member and having a second depth greater than the first depth. As a result, when closing the pair of jaw members to crush the clip, the second portion having a second depth greater than the first depth allows the crushed bent portion of the clip near the pivot axis to escape, thereby preventing the bent portion of the clip from interfering with further closing the pair of jaw members. This allows the jaw members to be closed further, so that the clip can be reliably closed by the surgical instrument attached to the robot arm. In addition, the clip can be easily completely crushed by the surgical instrument attached to the robot arm.

[0008] A surgical assistance robot according to a second aspect of this invention comprises a robot arm and a surgical instrument attached to the robot arm, the surgical instrument including a base attached to the robot arm, a shaft with one end connected to the base, and a pair of jaw members provided at the other end of the shaft that rotate around a pivot axis to open and close, the pair of jaw members having groove-shaped recesses for holding clips on their opposing surfaces, the recess of the jaw member including a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided on the pivot axis side of the jaw member and having a second depth greater than the first depth, the recess of the jaw member being formed such that the second portion has a substantially uniform second depth and extends in a direction toward the pivot axis side of the jaw member.

[0009] In the surgical assistance robot according to the second aspect of this invention, as described above, the recess of the jaw member includes a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided on the pivot axis side of the jaw member and having a second depth greater than the first depth. As a result, when closing the pair of jaw members to crush the clip, the second portion having a second depth greater than the first depth allows the crushed bent portion of the clip near the pivot axis to escape, thereby preventing the bent portion of the clip from interfering with further closing of the pair of jaw members. This allows the jaw members to be closed further, providing a surgical assistance robot that can reliably close the clip with surgical instruments attached to the robot arm. Furthermore, the clip can be easily completely crushed with surgical instruments attached to the robot arm. [Effects of the Invention]

[0010] According to the present invention, the entire clip can be crushed using a surgical instrument attached to a robotic arm. [Brief explanation of the drawing]

[0011] [Figure 1] This is a diagram showing the configuration of a surgical system according to one embodiment. [Figure 2] This figure shows the configuration of a medical manipulator according to one embodiment. [Figure 3] This figure shows the configuration of a robotic arm of a medical manipulator according to one embodiment. [Figure 4] This is a perspective view showing a robotic arm according to one embodiment, with surgical instruments attached via an adapter. [Figure 5] This block diagram shows a control configuration of a surgical system according to one embodiment. [Figure 6] This is a perspective view showing the end effector of a surgical instrument according to one embodiment. [Figure 7] This is a cross-sectional view showing the jaw member of a surgical instrument according to one embodiment. [Figure 8] This is a bottom view showing the jaw member of a surgical instrument according to one embodiment. [Figure 9] This is a cross-sectional view showing the first portion of the jaw member of a surgical instrument according to one embodiment. [Figure 10] This is a cross-sectional view showing the second portion of the jaw member of a surgical instrument according to one embodiment. [Figure 11] This figure shows a clip according to one embodiment. [Figure 12] This is a cross-sectional view showing a clip according to one embodiment. [Figure 13] This diagram illustrates the action of crushing a clip using the jaw member of a surgical instrument according to one embodiment. [Figure 14] This diagram illustrates the action of crushing a clip using the jaw member of a surgical instrument, as shown in the comparative example. [Modes for carrying out the invention]

[0012] Hereinafter, an embodiment of the present invention will be described based on the drawings.

[0013] Referring to FIGS. 1 to 13, the configuration of the surgical system 100 according to this embodiment will be described. The surgical system 100 includes a medical manipulator 1 which is a patient-side device, and a remote operation device 2 which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote operation device 2 is disposed at a position separated from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely operated by the remote operation device 2. The surgeon inputs a command for causing the medical manipulator 1 to perform a desired operation to the remote operation device 2. The remote operation device 2 transmits the input command to the medical manipulator 1. The medical manipulator 1 operates based on the received command. Further, the medical manipulator 1 is disposed in an operating room which is a sterilized sterile field. Note that the medical manipulator 1 is an example of the "surgical support robot" in the claims.

[0014] The remote operation device 2 is disposed, for example, inside or outside the operating room. The remote operation device 2 includes an operating manipulator arm 21, an operation pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operating manipulator arm 21 constitutes an operating handle for the surgeon to input a command. The operating manipulator arm 21 receives an operation amount for the surgical instrument 4. The monitor 24 is a scope-type display device that displays an image captured by the endoscope 6. The support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the surgeon's face. The touch panel 23 is disposed on the support bar 26. The medical manipulator 1 can be operated by the remote operation device 2 by detecting the head of the surgeon by a sensor (not shown) provided near the monitor 24. The surgeon operates the operating manipulator arm 21 and the operation pedal 22 while visually recognizing the affected part by the monitor 24. Thereby, a command is input to the remote operation device 2. The command input to the remote operation device 2 is transmitted to the medical manipulator 1.

[0015] The medical cart 3 is provided with a control unit 31 that controls the operation of the medical manipulator 1, and a storage unit 32 that stores a program or the like for controlling the operation of the medical manipulator 1. Then, based on the command input to the remote operation device 2, the control unit 31 of the medical cart 3 controls the operation of the medical manipulator 1. As shown in FIG. 5, the control unit 31 includes an arm control unit 31a and a positioner control unit 31b.

[0016] In addition, the medical cart 3 is provided with an input device 33. The input device 33 is mainly configured to receive operations for moving and changing the posture of the positioner 40, the arm base 50, and the plurality of arms 60 in order to prepare for surgery before the operation.

[0017] The medical manipulator 1 shown in FIGS. 1 and 2 is disposed in the operating room. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and a plurality of arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape (elongated shape). Also, the plurality of arms 60 are each attached to the arm base 50 at the base portion of each arm 60. The plurality of arms 60 are configured to be able to take a folded posture (storage posture). The arm base 50 and the plurality of arms 60 are covered with a sterile drape and used. Note that the arm 60 is an example of the "robot arm" in the claims.

[0018] The positioner 40 is constituted by, for example, a 7-axis articulated robot. Also, the positioner 40 is disposed on the medical cart 3. The positioner 40 moves the arm base 50. Specifically, the positioner 40 is configured to move the position of the arm base 50 three-dimensionally.

[0019] In addition, the positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by a joint portion 43. [[ID=十七]]

[0020] As shown in Figure 1, surgical instruments 4 are attached to the tip of each of the multiple arms 60. The surgical instruments 4 include, for example, interchangeable instruments, an endoscope 6, and so on.

[0021] Next, we will describe the configuration of arm 60 in detail.

[0022] As shown in Figure 3, the arm 60 includes an arm portion 61 (base portion 62, link portion 63, joint portion 64) and a translational movement mechanism portion 70 provided at the tip of the arm portion 61. The arm 60 is configured to move its tip portion in three dimensions relative to its root portion (arm base 50). The arm 60 has 8 degrees of freedom. Multiple arms 60 have similar configurations to each other.

[0023] The translational movement mechanism 70 is provided at the tip of the arm portion 61 and the surgical instrument 4 is attached to it. The translational movement mechanism 70 translates the surgical instrument 4 in the direction of insertion into the patient P. The translational movement mechanism 70 is configured to translate the surgical instrument 4 relative to the arm portion 61. Specifically, the translational movement mechanism 70 is provided with a holder 71 for holding the surgical instrument 4. A servo motor M2 (see Figure 5) is housed in the holder 71. The servo motor M2 is configured to rotate a rotating body provided on the surgical instrument 4. The forceps are operated by the rotation of the rotating body of the surgical instrument 4.

[0024] The arm section 61 is composed of a 7-axis articulated robot arm. The arm section 61 also includes a base section 62 for attaching the arm section 61 to the arm base 50, and a plurality of link sections 63 connected to the base section 62. The plurality of link sections 63 are connected to each other by joint sections 64.

[0025] The translational movement mechanism 70 is configured to translate the surgical instrument 4 attached to the holder 71 along the Y direction (the direction in which the shaft 420 extends) by translating the holder 71 along the Y direction. Specifically, the translational movement mechanism 70 includes a base-side link portion 72 connected to the tip of the arm portion 61, a tip-side link portion 73, and a connecting link portion 74 provided between the base-side link portion 72 and the tip-side link portion 73. The holder 71 is provided on the tip-side link portion 73.

[0026] Furthermore, the connecting link portion 74 of the translational movement mechanism 70 is configured as a double-speed mechanism that moves the tip-side link portion 73 relative to the base-side link portion 72 along the Y direction. In addition, the surgical instrument 4 attached to the holder 71 is configured to move translationally along the Y direction as the tip-side link portion 73 moves relative to the base-side link portion 72 along the Y direction. The tip of the arm portion 61 is connected to the base-side link portion 72 so as to rotate the base-side link portion 72 around the X direction, which is perpendicular to the Y direction.

[0027] As shown in Figure 1, an endoscope 6 is attached to one of the multiple arms 60 (for example, arm 60b), and surgical instruments 4 other than the endoscope 6 are attached to the remaining arms 60 (for example, arms 60a, 60c, and 60d). Specifically, during surgery, an endoscope 6 is attached to one of the four arms 60, and surgical instruments 4 other than the endoscope 6 (such as forceps) are attached to the other three arms 60. The pivot position is then taught to the arm 60 to which the endoscope 6 is attached, with the endoscope 6 attached. The pivot position is also taught to the arms 60 to which the surgical instruments 4 other than the endoscope 6 are attached, with a pivot position teaching device (not shown) attached. The endoscope 6 is attached to one of the two centrally located arms 60 (arms 60b and 60c) of the four arms 60 which are arranged adjacent to each other. In other words, the pivot position is set individually for each of the multiple arms 60.

[0028] As shown in Figure 3, the surgical instrument 4 is detachably connected to the holder 71 on the arm 60 of the surgical system 100. Specifically, as shown in Figure 4, the surgical instrument 4 is detachably connected to the arm 60 via an adapter 500. The adapter 500 is a drape adapter for sandwiching a sterile drape 600 for covering the arm 60 between the holder 71 and the arm 60.

[0029] As shown in Figure 4, the surgical instrument 4 comprises a base 410, a shaft 420, and an end effector 430. The base 410 is attached to the arm 60. Specifically, the base 410 is attached to the arm 60 via an adapter 500. The base 410 also contains a driven unit for operating the end effector 430. The driven unit of the base 410 is provided with multiple rotating bodies. The end effector 430 operates when the rotating bodies are rotated by a drive unit provided on the arm 60 via the adapter 500.

[0030] One end of the shaft 420 is connected to the base 410. A wire is also provided inside the shaft 420 for transmitting the drive of the driven unit to the end effector 430. The end effector 430 is located at the other end of the shaft 420. As shown in Figure 6, the end effector 430 has a pair of jaw members 431 and a support member 432 that supports the pair of jaw members 431. The pair of jaw members 431 rotate around a pivot axis A2 to open and close. The pair of jaw members 431 are supported by the support member 432 so as to be rotatable around the pivot axis A2. The support member 432 is connected to the shaft 420 so as to be rotatable around a pivot axis A1.

[0031] As shown in Figure 5, the arm 60 is equipped with multiple servo motors M1, an encoder E1, and a reduction gear (not shown) corresponding to multiple joints 64 of the arm portion 61. The encoder E1 is configured to detect the rotation angle of the servo motor M1. The reduction gear is configured to reduce the rotation of the servo motor M1 and increase the torque.

[0032] Furthermore, as shown in Figure 5, the translational movement mechanism 70 is equipped with a servo motor M2 for rotating a rotating body provided on the driven unit of the surgical instrument 4, a servo motor M3 for translating the surgical instrument 4, encoders E2 and E3, and a reduction gear (not shown). Encoders E2 and E3 are configured to detect the rotation angles of servo motors M2 and M3, respectively. The reduction gear is configured to reduce the rotation of servo motors M2 and M3 to increase torque. Servo motors M1, M2, and M3 are controlled by the arm control unit 31a.

[0033] Furthermore, the positioner 40 is equipped with multiple servo motors M4, an encoder E4, and a reduction gear (not shown) to correspond to the multiple joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motors M4. The reduction gear is configured to reduce the rotation of the servo motors M4 and increase the torque.

[0034] The medical trolley 3 is equipped with a servo motor M5, an encoder E5, a reduction gear (not shown), and a brake, each of which drives one of the multiple front wheels (not shown). The reduction gear is configured to reduce the rotation of the servo motor M5 and increase the torque. The operating handle 34 of the medical trolley 3 is equipped with a potentiometer, and the servo motors M5 of the front wheels are driven based on the rotation angle detected by the potentiometer in response to the twisting of the throttle of the operating handle 34. The rear wheels (not shown) of the medical trolley 3 are of the twin-wheel type, and the rear wheels are steered based on the left and right rotation of the operating handle 34. The servo motors M4 and M5 are controlled by the positioner control unit 31b.

[0035] In this embodiment, the surgical instrument 4 is a clip applicator, as shown in Figures 7 and 8, with groove-shaped recesses 4311 on the opposing surfaces of a pair of jaw members 431 for holding clips 200 (see Figure 9). The groove-shaped recesses 4311 include a first portion 431a provided on the tip side of the jaw member 431 and having a first depth D1, and a second portion 431b provided on the pivot axis A2 side of the jaw member 431 and having a second depth D2 greater than the first depth D1.

[0036] As a result, when closing the pair of jaw members 431 to crush the clip 200, the crushed bent portion 220 of the clip 200 that is close to the pivot axis A2 can be moved into the second portion 431b, which has a second depth D2 greater than the first depth D1. This prevents the bent portion 220 of the clip 200 from interfering with further closing the pair of jaw members 431. This allows the jaw members 431 to be closed further, so that the surgical instrument 4 attached to the arm 60 can reliably close the clip 200. In addition, the surgical instrument 4 attached to the arm 60 can easily completely crush the clip 200.

[0037] For example, if the thickness (length C2) of the clip 200 is approximately 0.38 mm, the first depth D1 is between 0.26 mm and 0.30 mm. The second depth D2 is between 0.31 mm and 0.34 mm. If the second depth D2 is 0.35 mm or more, the bent portion 220 of the clip 200 cannot be completely crushed, and an opening occurs in the bent portion 220. Also, if the second depth D2 is less than 0.30 mm, the bent portion 220 cannot be fully released into the second portion 431b, and the jaw member 431 cannot be closed completely. As a result, an opening occurs between the bent portion 220 and the tip portion 210 of the clip 200.

[0038] As shown in Figure 11, the clip 200, which is clamped and crushed by a pair of jaw members 431, has a roughly U-shape before being crushed. Specifically, the clip 200 has a pair of tip portions 210, a bent portion 220 located in the center between the pair of tip portions 210, and a bent portion 230 located between the tip portions 210 and the bent portion 220. The length of the clip 200 from the tip portions 210 to the bent portion 230 is length C1. Furthermore, as shown in Figure 12, the clip 200 has a roughly triangular cross-sectional shape and a thickness of length C2.

[0039] Furthermore, the pair of jaw members 431 are closed while gripping a roughly U-shaped clip 200 (see Figure 11) which has a bent portion 220 in the center, thereby deforming the clip 200 to crush it. The second portion 431b of the recess 4311 is positioned to correspond to the bent portion 220 of the clip 200. This ensures that when the bent portion 220 of the roughly U-shaped clip 200 is crushed, the crushed bent portion 220 is reliably positioned in the second portion 431b, which has a large second depth D2.

[0040] Furthermore, the recess 4311 of the jaw member 431 has a depth that gradually changes from a first depth D1 to a second depth D2 from the first portion 431a to the second portion 431b, and includes a connecting portion 431c that connects the first portion 431a and the second portion 431b. As a result, there is no corner formed by a step at the connecting portion 431c between the first portion 431a and the second portion 431b, thus preventing damage to the clip 200 due to corners.

[0041] Furthermore, the first portion 431a of the recess 4311 is formed to extend for a predetermined length from the tip side of the jaw member 431 toward the pivot axis side so that the bent portion 230 of the clip 200 abuts against it. Specifically, as shown in Figure 7, the length of the first portion 431a in the direction toward the pivot axis side (X direction) is L1. The length L1 is greater than the length C1 from the tip portion 210 to the bent portion 230 of the clip 200. For example, if the length C1 of the clip 200 is approximately 1.7 mm, the length L1 of the first portion 431a of the jaw member 431 is 2.7 mm, taking into account the mounting error of the clip 200 (for example, ±0.5 mm). This allows the bent portion 230 of the clip 200 to abut against the first portion 431a, so that the bent portion 230 of the clip 200 can be reliably crushed in the first portion 431a with a relatively small first depth D1.

[0042] Furthermore, the second portion 431b of the recess 4311 has a second depth D2 that is smaller than the thickness in the depth direction of the recess 4311 of the clip 200 before deformation. In other words, the second depth D2 is smaller than the thickness (length C2) of the clip 200. This prevents the depth of the second portion 431b from becoming excessively large, thus preventing the second portion 431b from failing to completely crush the bent portion 220 of the clip 200.

[0043] Furthermore, the recess 4311 of the jaw member 431 is formed such that the first portion 431a has a substantially uniform first depth D1, and the second portion 431b has a substantially uniform second depth D2. As a result, the first portion 431a with a substantially uniform first depth D1 can uniformly crush the tip of the clip 200. Also, the second portion 431b with a substantially uniform second depth D2 can uniformly crush the bent portion 220 of the clip 200.

[0044] Furthermore, as shown in Figures 8 to 10, the recess 4311 of the jaw member 431 is formed such that at the opening end of the recess 4311, the first portion 431a has a first width W1, and at the opening end of the groove-shaped recess 4311, the second portion 431b has a second width W2 that is larger than the first width W1. This increases the volume of the second portion 431b by increasing the second width W2, so that the crushed bent portion 220 can be reliably released in the second portion 431b.

[0045] Furthermore, as shown in Figures 9 and 10, the recesses 4311 (first portion 431a, second portion 431b) of the jaw member 431 have a roughly V-shaped cross-section. This allows the clip 200, which has a triangular cross-section, to be held securely by the roughly V-shaped recesses 4311 without any wobbling.

[0046] Furthermore, the recess 4311 of the jaw member 431 is formed such that the length of the first portion 431a is greater than the length of the second portion 431b in the direction from the tip side of the jaw member 431 toward the pivot axis side (X direction). Specifically, as shown in Figure 7, the length of the first portion 431a in the direction from the tip side toward the pivot axis side (X direction) is L1. The length of the second portion 431b in the X direction is L2. Length L1 is greater than length L2. As a result, the longer first portion 431a allows the clip 200 to be easily and uniformly crushed.

[0047] As shown in Figure 13(A), the clip 200 is set so as to be held between the pair of jaw members 431 when they are open. The clip 200 is set so that its tip 210 is at the tip position of the jaw members 431. As shown in Figure 13(B), when the pair of jaw members 431 are closed, the clip 200 held by the pair of jaw members 431 is crushed. As shown in Figure 13(C), the pair of jaw members 431 are closed further. In this case, the crushed bent portion 220 escapes into the second portion 431b which has a larger second depth D2, making it possible to close the jaw members 431 further. Also, the clip 200 is completely crushed and bent from the tip 210 to the bent portion 220.

[0048] On the other hand, in the jaw member 700 according to the comparative example shown in Figure 14, unlike in this embodiment, the groove-shaped recess 701 has a substantially uniform depth. That is, the recess 701 of the jaw member 700 has a substantially uniform depth from the tip to the pivot axis side. As shown in Figure 14(A), the clip 200 is set so as to be sandwiched between the pair of jaw members 700 when the pair of jaw members 700 are open. The clip 200 is set so that its tip portion 210 is at the tip position of the jaw member 431. As shown in Figure 14(B), when the pair of jaw members 700 are closed, the clip 200 held by the pair of jaw members 700 is crushed. As shown in Figure 14(C), when attempting to further close the pair of jaw members 700, the crushed bent portion 220 interferes with the jaw member 700 in the recess 701. As a result, the jaw member 700 cannot be closed further. In this case, the clip 200 is separated around the bent portion 230. Therefore, it is not possible to completely close the clip 200.

[0049] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0050] In this embodiment, as described above, the recess 4311 of the jaw member 431 includes a first portion 431a provided on the tip side of the jaw member 431 and having a first depth D1, and a second portion 431b provided on the pivot axis A2 side of the first portion 431a and having a second depth D2 greater than the first depth D1. As a result, when closing the pair of jaw members 431 to crush the clip 200, the crushed bent portion 220 of the clip 200 near the pivot axis A2 can be accommodated in the second portion 431b, which has a second depth D2 greater than the first depth D1, thereby preventing the bent portion 220 of the clip 200 from interfering with further closing the pair of jaw members 431. This allows the jaw members 431 to be closed further, so that the surgical instrument 4 attached to the arm 60 can reliably close the clip 200. In addition, the surgical instrument 4 attached to the arm 60 can easily completely crush the clip 200.

[0051] (modified version) It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims rather than by the description of the embodiments above, and further includes all modifications (exceptions) within the meaning and scope equivalent to the claims.

[0052] For example, the recess in the groove shape of the jaw member is shown as having a substantially V-shaped cross-section, but the present invention is not limited to this. In the present invention, the recess in the groove shape of the jaw member may have a substantially rectangular, semicircular, or polygonal cross-section.

[0053] Furthermore, although the above embodiment shows an example of a configuration in which one clip is set on each surgical instrument, the present invention is not limited to this. In the present invention, a configuration in which multiple clips are set on a surgical instrument and the clips are used sequentially is also possible.

[0054] Furthermore, although the above embodiment shows an example in which four arms are provided, the present invention is not limited to this. In the present invention, the number of arms may be any other number as long as at least one or more are provided.

[0055] Furthermore, although the above embodiment shows an example in which the arm and positioner are composed of a 7-axis articulated robot, the present invention is not limited to this. For example, the arm and positioner may be composed of an articulated robot with an axis configuration other than a 7-axis articulated robot (e.g., 6-axis or 8-axis).

[0056] Furthermore, while the above embodiment shows an example in which a medical manipulator comprises a medical trolley, a positioner, an arm base, and an arm, the present invention is not limited to this. For example, a medical trolley, a positioner, and an arm base are not necessarily required, and the medical manipulator may consist only of an arm.

[0057] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0058] [Aspect] Those skilled in the art will understand that the exemplary embodiments described above are specific examples of the following embodiments.

[0059] (Item 1) A base that can be attached to a robot arm, A shaft with one end connected to the base, The other end of the shaft is provided with a pair of jaw members that rotate around a pivot axis to open and close, The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips. A surgical instrument wherein the recess of the jaw member includes a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided on the pivot axis side of the jaw member and having a second depth greater than the first depth.

[0060] (Item 2) The pair of jaw members, having a bent portion in the center and holding the roughly U-shaped clip between them, are deformed by closing them, thereby crushing the clip. The surgical instrument according to item 1, wherein the second portion of the recess is positioned to correspond to the bent portion of the clip.

[0061] (Item 3) The clip has a bent portion between the bent portion and the tip portion, The surgical instrument according to item 2, wherein the first portion of the recess is formed to extend for a predetermined length from the tip side of the jaw member toward the pivot axis side so that the bent portion of the clip abuts against it.

[0062] (Item 4) The surgical instrument according to any one of items 1 to 3, wherein the second portion of the recess has a second depth that is smaller than the thickness in the depth direction of the recess of the clip before deformation.

[0063] (Item 5) The surgical instrument according to any one of items 1 to 4, wherein the recess of the jaw member is formed such that the first portion has a substantially uniform first depth and the second portion has a substantially uniform second depth.

[0064] (Item 6) The surgical instrument according to item 5, wherein the recess of the jaw member further includes a connecting portion that connects the first portion and the second portion, the depth of which gradually changes from the first portion to the second portion from the first portion to the second portion.

[0065] (Item 7) The surgical instrument according to any one of items 1 to 6, wherein the recess of the jaw member is formed such that at the opening end of the groove-shaped recess, the first portion has a first width and at the opening end of the recess, the second portion has a second width that is greater than the first width.

[0066] (Item 8) The surgical instrument according to any one of items 1 to 7, wherein the recess of the jaw member is formed such that the length of the first portion is greater than the length of the second portion in the direction from the tip side of the jaw member toward the pivot axis side.

[0067] (Item 9) The surgical instrument according to any one of items 1 to 8, wherein the recess of the jaw member has a substantially V-shaped cross-section.

[0068] (Item 10) A robotic arm and The robot arm is equipped with a surgical instrument that can be attached to the robot arm, The surgical instrument includes a base attached to the robot arm, a shaft with one end connected to the base, and a pair of jaw members provided at the other end of the shaft that rotate around a pivot axis to open and close. The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips. A surgical assistance robot wherein the recess of the jaw member includes a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided on the pivot axis side of the jaw member and having a second depth greater than the first depth. [Explanation of symbols]

[0069] 1. Medical manipulator (surgical assistance robot) 4 Surgical instruments 60 Arms (Robot Arms) 200 clips 210 Tip 220 Folding section 230 Bending section 410 Base 420 shaft 431 Jaw component 431a Part 1 431b Part 2 431c Connection part 4311 recess

Claims

1. A base that can be attached to a robot arm, A shaft with one end connected to the base, The other end of the shaft is provided with a pair of jaw members that rotate around a pivot axis to open and close, The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips. The recess of the jaw member includes a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided on the pivot axis side of the jaw member and having a second depth greater than the first depth. A surgical instrument wherein the recess of the jaw member is formed such that the second portion has a substantially uniform second depth and extends in a direction toward the pivot axis side of the jaw member.

2. The pair of jaw members, having a bent portion in the center and holding the roughly U-shaped clip between them, are deformed by closing them, thereby crushing the clip. The surgical instrument according to claim 1, wherein the second portion of the recess is positioned to correspond to the bent portion of the clip.

3. The clip has a bent portion between the bent portion and the tip portion, The surgical instrument according to claim 2, wherein the first portion of the recess is formed to extend for a predetermined length from the tip side of the jaw member toward the pivot axis side so that the bent portion of the clip abuts against it.

4. The surgical instrument according to claim 1, wherein the second portion of the recess has a second depth that is smaller than the thickness in the depth direction of the recess of the clip before deformation.

5. The surgical instrument according to claim 1, wherein the recess of the jaw member is formed such that the first portion has a substantially uniform first depth.

6. The surgical instrument according to claim 5, wherein the recess of the jaw member further includes a connecting portion that connects the first portion and the second portion, with the depth of the recess gradually changing from a first depth to a second depth from the first portion to the second portion.

7. The surgical instrument according to claim 1, wherein the recess of the jaw member is formed such that the first portion has a first width at the opening end of the groove-shaped recess, and the second portion has a second width that is greater than the first width at the opening end of the recess.

8. The surgical instrument according to claim 1, wherein the recess of the jaw member is formed such that the length of the first portion is greater than the length of the second portion in the direction from the tip side of the jaw member toward the pivot axis side.

9. The surgical instrument according to claim 1, wherein the recess of the jaw member has a substantially V-shaped cross-section.

10. A robotic arm and The robot arm is equipped with a surgical instrument that can be attached to the robot arm, The surgical instrument includes a base attached to the robot arm, a shaft with one end connected to the base, and a pair of jaw members provided at the other end of the shaft that rotate around a pivot axis to open and close. The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips. The recess of the jaw member includes a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided on the pivot axis side of the jaw member and having a second depth greater than the first depth. A surgical assistance robot, wherein the recess of the jaw member is formed such that the second portion has a substantially uniform second depth and extends in a direction toward the pivot axis side of the jaw member.

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