Clamp device

Abstract

To provide a forceps device that can be easily and properly used with either hand.SOLUTION: This forceps device is provided with: a body part that comprises a clamping part, a flexion part which is connected to a base end side of the clamping part and which is capable of assuming a straight configuration and a flexed configuration, a shaft part connected to a base end side of the flexion part, and a flexing operation part capable of operating the flexion; and an operation part that is capable of causing a clamping operation by the clamping part and that enables the clamping operation with fingers of a user's hand. The operation part can be disposed so as to have a prescribed first configuration and also have a second configuration that is achieved by turning the first configuration about an axis of the shaft part toward an opposite side. The flexing operation part is configured to comprise: a first operation dial for operating the flexion within a range operable with fingers of one hand in the case of being in the first configuration; and a second operation dial for operating the flexion within a range operable with fingers of one hand for operating the operation part, in the case of being in the second configuration.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a forceps device for use in surgical procedures such as endoscopic surgery. [Background technology]

[0002] Many specialized medical instruments are used in surgical procedures. Among them, forceps devices are known as devices for cutting and grasping tissue. For example, in endoscopic surgical procedures such as laparoscopic surgery and thoracoscopic surgery, an endoscopic camera equipped with a high-resolution camera is used, and the surgeon performs the procedure using a forceps device for endoscopic surgery through a monitor. Depending on the surgical procedure, the forceps device may be inserted deep inside the body, and a forceps device with a long shaft is used.

[0003] As such a forceps device, a forceps device with a detachable handle is known (see, for example, Patent Document 1).

[0004] Also known among forceps devices are forceps devices that have a joint at the distal end and can be operated with multiple degrees of freedom.

[0005] In some surgeries, the surgeon may perform the procedure with a forceps device in each hand. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] U.S. Patent No. 6,261,294 Summary of the Invention [Problem to be solved by the invention]

[0007] As mentioned above, there are occasions when it is desired to use a forceps device with one hand, and therefore there is a need for a forceps device that is easier to operate.

[0008] As described above, in some surgeries, the surgeon may operate the forceps device with both hands, and in order to accommodate this, a forceps device for the left hand and a forceps device for the right hand must be prepared. Furthermore, when surgery is performed by multiple surgeons, a forceps device for each hand must be prepared for each surgeon.

[0009] In order to deal with such cases, it is necessary to prepare a large number of forceps devices for each hand in advance. Preparing many forceps devices in this way is costly and difficult to manage. Furthermore, preparing many forceps devices may result in some forceps devices being used infrequently.

[0010] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a forceps device that can be easily and appropriately used by an operator with either hand. [Means for solving the problem]

[0011] A forceps device according to a first aspect is a forceps device including: a clamping portion capable of clamping an object; a bending portion connected to a base end side of the clamping portion and capable of assuming a straight state and a bent state; and a shaft portion connected to the base end side of the bent portion. The device comprises a main body having a bending operation unit capable of operating bending by the bending portion, and an operation unit capable of clamping the clamping portion and allowing a user to operate the clamping operation with the fingers of one hand, wherein the operation unit is capable of being positioned in a predetermined first state with respect to the axis of the shaft portion, and is capable of being positioned in a second state in which the first state is rotated to the opposite side around the axis of the shaft portion, and the bending operation unit has a first operation dial for operating the bending within a range that can be operated by the fingers of the one hand operating the operation unit when the operation unit is positioned in the first state, and has a second operation dial for operating the bending within a range that can be operated by the fingers of the one hand operating the operation unit when the operation unit is positioned in the second state.

[0012] In the forceps device, the operation portion may be rotatable about the axis of the shaft portion.

[0013] In the forceps device, the operation portion may be detachable from the main body portion.

[0014] In the above forceps device, one end of a pair of operating wires is connected to the tip of the bending portion, and an adjustment unit is provided that is connected to the other end of the pair of operating wires and rotates around a predetermined axis to pull one of the operating wires and adjust the tension of the operating wires, and the adjustment unit may be rotatable by rotating the first operating dial or the second operating dial.

[0015] In the forceps device, the adjustment portion may have a worm wheel and a worm that screws into the worm wheel, and the first operation dial and the second operation dial may be rotatable about an axis of the worm.

[0016] In the forceps device, the first operation dial and the second operation dial may be capable of rotating the worm shaft in the same direction when rotated in the same direction.

[0017] The forceps device may further include a shaft adjustment portion capable of rotating the shaft portion about the axis of the shaft portion.

[0018] A forceps device according to a second aspect is a forceps device comprising: a clamping portion capable of clamping an object; a bending portion connected to a base end side of the clamping portion and capable of assuming a straight state and a bent state; and a shaft portion connected to the base end side of the bending portion, the bending portion being configured by arranging a plurality of link parts in series, the bending portion including a first link part and a second link part adjacent to the base end side of the first link part, the first link part being provided on the base end side with a bending portion of the bending portion. The second link component has a first convex portion that protrudes outward on a line perpendicular to the bending surface and a first concave portion that is concave inward on the opposite side to the first convex portion on the line perpendicular to the bending surface, and the second link component has, at its tip side, a second convex portion that protrudes outward on the opposite side to the first convex portion on the line perpendicular to the bending surface and fits loosely into the first concave portion, and a second concave portion that is concave inward on the opposite side to the first concave portion on the line perpendicular to the bending surface and fits loosely into the first convex portion.

[0019] In the above-described forceps device, when the bending portion is in a straight state, faces of adjacent link members on one side of the bending surface may be in contact with each other, and faces of adjacent link members on the other side of the bending surface may be out of contact with each other.

[0020] A forceps device according to a third aspect is a forceps device comprising: a clamping portion capable of clamping an object; a bending portion connected to a base end side of the clamping portion and capable of assuming a straight state and a bent state; a shaft portion connected to the base end side of the bent portion; a pair of operating wires having one end connected to a tip side of the bent portion; an operating wire drive portion connected to the other end of the pair of operating wires and capable of pulling one operating wire and pushing the other operating wire by rotating around a predetermined axis; and a maximum amount adjustment portion capable of adjusting the maximum amount that one of the operating wires pulled by the operating wire drive portion can be pulled by the operating wire drive portion when the bent portion is put into a bent state.

[0021] In the forceps device, the operating line drive unit may have a partially circular movement amount adjustment unit that rotates around the predetermined axis, and the maximum amount adjustment unit may regulate the maximum amount by contacting an edge portion of the movement amount adjustment unit to limit the rotation of the movement amount adjustment unit, and the maximum amount adjustment unit may be capable of changing a position at which it contacts the edge portion.

[0022] In the forceps device described above, the maximum amount adjustment unit may be rotatably installed around a predetermined axis and have a shape in which the distance from the predetermined axis to an outer surface varies, and by rotating the maximum amount adjustment unit to change the part of the outer surface that comes into contact with the side portion, the position of contact with the side portion may be changed.

[0023] Furthermore, a forceps device according to a third aspect is a forceps device comprising a clamping section capable of clamping an object, a bending section connected to a base end side of the clamping section and capable of assuming a straight state and a bent state, a shaft section connected to the base end side of the bending section, a bending operation section capable of operating bending by the bending section, an operation section capable of clamping operation of the clamping section and capable of clamping operation by the fingers of one hand of a user, and an operation wire arranged within the shaft section for transmitting power of the operation section to the clamping section, wherein the operation wire is reinforced with a hollow rope within an area including the entire area of ​​the bending section. Effect of the Invention

[0024] According to the present invention, a forceps device can be provided that is easy and suitable for use with either hand. [Brief description of the drawings]

[0025] [Figure 1] 1 is a perspective view of a forceps device according to one embodiment. FIG. [Diagram 2] FIG. [Diagram 3] FIG. 2 is an exploded view of a main body of the forceps device. [Figure 4] FIG. 2 is an exploded view of the clamping portion and related parts of the forceps device. [Diagram 5]FIG. 2 is an exploded view of an operating section of the forceps device. [Figure 6] 1A to 1C are a top view, a side view, and a rear view of the forceps device in a left-handed state. [Figure 7] FIG. 2 is a perspective view of the forceps device in a right-handed state. [Figure 8] 1A to 1C are a top view, a side view, and a rear view of the forceps device in a right-handed state. [Figure 9] 13 is a diagram showing a connection state between the main body and the operation section of the forceps device in the left-handed state. FIG. [Figure 10] 13A and 13B are diagrams illustrating a state in which the main body and the operation unit are attached and detached from each other. [Figure 11] FIG. 2 is an enlarged view of a bending portion of the forceps device. [Figure 12] 1A to 1C are diagrams illustrating the configuration of link parts at a bent portion and a method of connecting the link parts. [Figure 13] 1A to 1C are diagrams illustrating the configuration and operation related to bending and straightening of a bending portion. [Figure 14] 11A and 11B are diagrams for explaining in detail the configuration related to the bending and straightening operation of a bending portion. [Figure 15] 4A and 4B are diagrams illustrating a mechanical end of the forceps device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] A forceps device according to an embodiment will be described with reference to the drawings, but the present invention is not limited to the embodiment described in the drawings.

[0027] In this specification, the terms "distal side" and "distal direction" refer to the side and direction where the clamping portion is located. Additionally, the terms "base side" and "base direction" refer to the side and direction where the operating portion that applies power to drive the clamping portion is located. Additionally, the term "distal" refers to the end portion on the distal side of any member or part, and the term "base end" refers to the end portion on the proximal side of any member or part.

[0028] FIG. 1 is a perspective view of a forceps device according to an embodiment, showing the forceps device in a state in which operation with the left hand is assumed (left-handed state). When describing the directions in the figure, the illustrated X-axis, Y-axis, and Z-axis are used as appropriate. Here, the positive direction of the X-axis (the direction of the arrow indicating the X-axis) indicates the tip side, and the opposite direction indicates the base side. When the longitudinal direction of the forceps device 1 is horizontal (referred to as a reference state), the Z-axis direction is the vertical direction, the X-axis is the longitudinal direction, and the Y-axis is the lateral direction perpendicular to the longitudinal direction. Thus, 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.

[0029] The forceps device 1 is a forceps device with multiple degrees of freedom, and includes a clamping section 7, a bending section 6, a main body section 2 including a shaft section 4, and an operation section 8. The clamping section 7 is a section for grasping an object, and is capable of opening and closing end effectors 71, 72 (see FIG. 4) and rotating about the axis of the shaft section 4. The bending section 6 connects the clamping section 7 and the shaft section 4, and can be in a straight state along the axial direction of the shaft section 4 and in a bent state bent in a predetermined direction.

[0030] The main body portion 2 is equipped with a shaft portion 4 and is the part that the surgeon operates to rotate the bending portion 6 around the axis of the clamping portion 7 and thereby to make the bending portion 6 straight or bent (bending and straightening movement).

[0031] The operation unit 6 is a portion that is operated by the user to open and close the clamping unit 7 .

[0032] FIG. 2 is an exploded view of the forceps device.

[0033] The forceps device 1 can be disassembled into, for example, an operating section 8, a main body section 2, a bending section 6, a clamping section 7, and an operating wire .

[0034] The clamping unit 7 is connected to an operating line 36 that transmits an operating input for opening and closing the end effector at its base end. The operating line 36 is configured from the base end side with an engagement portion 36e for engaging with the operating unit 8, a hypotube 36a having a polygonal (e.g., hexagonal) outer shape, a cylindrical hypotube 36b, a wire rope 36c, and a hollow rope 36d covering the tip end of the wire rope 36c, and is arranged inside the main body 2. The hollow rope 36d is a wire rope formed into a hollow shape. When the clamping unit 7 is attached to the tip end of the bending unit 6, the hollow rope 36d is disposed at a position corresponding to the bending portion of the bending unit 6, and the length L1 in the X-axis direction is equal to or longer than the length of the bending portion of the bending unit 6. The hollow rope 36d can reinforce the elastic force against bending with respect to the wire rope 36c, and thus the shape of the bending state of the bending unit 6 can be made substantially the same shape.

[0035] Next, the main body 2 of the forceps device 1 will be described in detail with reference to Fig. 3, which is an exploded view thereof.

[0036] The main body 2 of the forceps device 1 has a shaft 4, main body cases 21 and 22, a worm 23, a worm wheel 24, a height adjustment member 25, a worm wheel rotation shaft 26, slide sections 27 and 28, a pin 29, a screw 30, operation dials 31 and 33 (examples of a first operation dial and a second operation dial), screws 32 and 34, and a clamping section rotation dial 35. Here, the adjustment section and operation line drive section in the claims are mainly constituted by the worm wheel 24, the pin 29, and the slide sections 27 and 28, the movement amount adjustment section is constituted by the worm wheel 24, and the bending operation section is mainly constituted by the worm 23 and the operation dials 31 and 33.

[0037] The main body cases 21 and 22 are cases that house the worm 23, the worm wheel 24, the height adjustment member 25, the worm wheel rotation shaft 26, the slide portions 27 and 28, and the pin 29. The main body case 21 has a rib 21a on the base end side that regulates attachment and detachment to the operation portion 8. The main body case 21 also has a guide groove 21b that guides the movement of the slide portion 27 along the X-axis, and a guide groove 21c that guides the movement of the slide portion 28 along the X-axis.

[0038] The worm 23 is housed in the main body cases 21, 22 so that its rotation axis is in the Z-axis direction, and an operation dial 31 is fixed to one end (the positive side of the Z-axis in FIG. 3) by a screw 32 so as to be rotatable together with the worm 23, and an operation dial 33 is fixed to the other end (the negative side of the Z-axis in FIG. 3) by a screw 34 so as to be rotatable together with the worm 23. The operation dials 31, 33 are disk-shaped dials that the user turns to bend and straighten the bending portion 6.

[0039] The worm wheel 24 is disposed so as to mesh with the worm 23. In the example of FIG. 3, the worm wheel 24 is attached to the main body cases 21, 22 by a worm wheel rotation shaft 26 so as to be rotatable about the Y axis. Therefore, when the worm 23 rotates about the Z axis, the worm wheel 24 rotates about the Y axis. A height adjustment member 25 is attached to the negative side of the Y axis of the worm wheel 24 by a screw 30. Two pins 29 are attached to the negative sides of the Y axis of the worm wheel 24 and the height adjustment member 25 at positions symmetrical with respect to the rotation axis of the worm wheel 24.

[0040] The slide portion 27 is connected to one of the operating wires 37 (see FIG. 4) for operating the bending and straightening action of the bending portion 6, and is a part that pulls and pushes the operating wire 37 in response to the rotation of the worm wheel 24. The slide portion 27 has an elongated hole 27a and a protruding portion 27b. The elongated hole 27a is formed to extend along the Z axis, and houses the pin 29 so as to be movable along the Z axis. The protruding portion 27b engages with the guide groove 21b of the main body case 21, and guides the slide portion 27 so as to be linearly movable along the X axis.

[0041] The sliding portion 28 is connected to one of the operating wires 38 (see FIG. 4) for operating the bending and straightening action of the bending portion 6, and is a portion that pulls and pushes the operating wire 38 in response to the rotation of the worm wheel 24. The sliding portion 28 has an elongated hole 28a and a protruding portion 28b. The elongated hole 28a is formed to extend along the Z axis, and houses the pin 29 so as to be movable along the Z axis. The protruding portion 28b engages with the guide groove 21c of the main body case 21, and guides the sliding portion 28 so as to be linearly movable along the X axis.

[0042] The clamping part rotation dial 35 is a disk-shaped dial for the user to operate the rotational movement of the clamping part 7. The clamping part rotation dial 35 is housed in the main body case 21, 22 so that the rotation axis is the X-axis. The clamping part rotation dial 35 has a through hole 35a in the center that corresponds to the outer shape of the hypotube 36a of the operating line 36. The clamping part rotation dial 35 and the hypotube 36a of the operating line 36 are configured so that the hypotube 36a is positioned to engage with the through hole 35a. As a result, when the clamping part rotation dial 35 is rotated, the hypotube 36a of the operating line 36 rotates together with the hypotube 36a of the operating line 36, and as a result, the clamping part 7 connected to the operating line 36 rotates.

[0043] The shaft portion 4 has a main shaft 41, an engagement portion 42, a main shaft dial 43, a dial cap 44, mounting rings 45 and 46, a shaft support portion 47, adjustment nuts 48 and 49, an intermediate cap 50, and a tip cap 51. Here, the shaft adjustment portion in the claims is mainly composed of the engagement portion 42 and the main shaft dial 43.

[0044] The main shaft 41 is a hollow cylindrical shaft, and is made of, for example, carbon fiber reinforced plastic (CFRP) or medical stainless steel.

[0045] The engaging portion 42 has a generally cylindrical shape, and engages with the tip portions of the main body cases 21, 22 so as to be rotatable about the X-axis. The engaging portion 42 has a fixing portion 42a inside thereof for fixing the shaft support portion 47 so as to be rotatable therewith.

[0046] The main shaft dial 43 is substantially cylindrical in shape and is a dial that is rotated by the user to rotate the entire shaft portion 41 around the X-axis, specifically, to change the bending direction of the bending portion 6. The main shaft dial 43 accommodates the engagement portion 42 so as to be rotatable together with the engagement portion 42. The main shaft dial 43 has a plurality of position restriction grooves 43a that extend along the X-axis on the inner peripheral side and are formed at positions corresponding to each predetermined central angle. The position restriction grooves 43a can restrict the shaft portion 4 to a predetermined angular position by engaging with a rib (not shown) formed on the main body case 21. The dial cap 44 is cylindrical in shape and is attached to the tip side of the main shaft dial 43.

[0047] The shaft support 47 is a member having a through hole along the X-axis inside, and has a base end 47a, a rectangular column portion 47b, a threaded portion 47c, and a tip end 47d. The base end 47a is cylindrical, and mounting rings 45, 46 are attached to its periphery, and the mounting rings 45, 46 are rotatably attached to the inner periphery of the tip end of the main body case 21. The rectangular column portion 47b has an outer shape corresponding to the fixed portion 42a of the engagement portion 42, and is attached and fixed to the fixed portion 42a, so that it can rotate integrally with the engagement portion 42. The threaded portion 47c is screwed into nuts 48, 49. The tip end 47d has a cylindrical shape with a diameter shorter than the outer diameter of the threaded portion 47c.

[0048] The intermediate cap 50 has a dome shape, engages with the tip of the engagement portion 42, and covers the base end side of the threaded portion 47c of the shaft support portion 47.

[0049] The tip cap 51 has a substantially cylindrical shape, and is disposed so as to be movable along the X-axis on the shaft support part 47 while being positioned radially outward of the threaded part 47c and the tip part 47d of the shaft support part 47. The base end side of the tip cap 51 is adapted to come into contact with a nut 49 screwed onto the threaded part 47c, and the position of the tip cap 51 in the negative direction of the X-axis is regulated by the position of the nut 49.

[0050] A hole 51a is formed in the tip cap 51. A fixing pin (not shown) is press-fitted into the hole 51a to fix the tip cap 51 and the main shaft 41 inserted in the inner hole of the tip cap 51. Note that the main shaft 41 may be fixed to the tip cap 51 such that the position of the base end side is closer to the base end side than the shaft support part 47, for example.

[0051] With the above configuration, in shaft portion 4, by adjusting the X-axis position of nut 49, the X-axis position of tip cap 51 can be adjusted, and as a result, the position of the tip side of main shaft 41 can be adjusted.

[0052] Next, the clamping portion 7 and related parts of the forceps device 1 will be described in detail with reference to Fig. 4, which is an exploded view thereof.

[0053] A bending portion 6 is connected to the tip side of the main shaft 41. Operating wires 37, 38 that operate the bending and straightening motion are connected to the bending portion 6. From the base end side, the operating wire 37 has a hypotube 37a, a wire rope 37b, and an engagement terminal 37c. From the base end side, the operating wire 38 has a hypotube 38a, a wire rope 38b, and an engagement terminal 38c.

[0054] The clamping unit 7 has a pair of end effectors 71 and 72 , a pin 73 , a clamping unit main body 74 , and a cam 75 .

[0055] The clamping portion main body 74 is a substantially cylindrical member, and its base end side is rotatably attached to the tip end of the bending portion 6. The clamping portion main body 74 extends in the axial direction (X-axis direction), and has a slide groove 74a that enables the cam 75 to move along the X-axis, and a hole 74b.

[0056] The cam 75 is a plate-like member connected to the tip end of the operating wire 36 so as to be integrally rotatable. The cam 75 has an oblique groove 75a formed on the surface on the positive side of the Z axis, an oblique groove 75b formed on the surface on the negative side of the Z axis, and a convex portion 75c protruding to the positive and negative sides of the Y axis. The oblique groove 75a and the oblique groove 75b are configured to be X-shaped when viewed from the positive side of the Z axis. That is, the oblique groove 75a is formed so as to be located on the positive side of the X axis and the positive side of the Y axis as it approaches the tip end, while the oblique groove 75b is formed so as to be located on the positive side of the X axis and the negative side of the Y axis as it approaches the tip end.

[0057] Cam 75 is disposed in the internal space of clamping portion main body 74 such that convex portion 75c engages with slide groove 74a of clamping portion main body 74. This allows cam 75 to move within clamping portion main body 74 along the X-axis.

[0058] End effectors 71, 72 can grip an object by narrowing (closing) the angle between them, and can release the grip of the object by widening the angle between them. End effector 71 has a surface on the negative side of the Y axis at the tip side for gripping an object, and has a protrusion 71a protruding on the negative side of the Z axis and a hole 71b extending in the Z axis direction. End effector 72 has a surface on the positive side of the Y axis at the tip side for gripping an object, and has a protrusion 72a protruding on the positive side of the Z axis and a hole 72b extending in the Z axis direction.

[0059] End effector 71 is arranged so that protrusion 71a engages with oblique groove 75a of cam 75, and end effector 72 is arranged so that protrusion 72a engages with oblique groove 75b of cam 75, so that they are stacked on top of each other, and after they are placed in the internal space of clamping portion main body 74, pin 73 is inserted into holes 71b and 72b while being press-fitted into hole 74b, so that pin 73 is fixed to clamping portion main body 74. End effector 71 is rotatable about pin 73 as shown by arrow R1, and end effector 72 is rotatable about pin 73 as shown by arrow R2.

[0060] Since the projection 71a of the end effector 71 is engaged with the oblique groove 75a, when the cam 75 moves to the tip side, the tip side rotates in a direction that becomes the positive side of the Y axis, whereas when the cam 75 moves to the base end side, the tip side rotates in a direction that becomes the negative side of the Y axis. Meanwhile, since the projection 72a of the end effector 72 is engaged with the oblique groove 75b, when the cam 75 moves to the tip side, the tip side rotates in a direction that becomes the negative side of the Y axis, whereas when the cam 75 moves to the base end side, the tip side rotates in a direction that becomes the positive side of the Y axis. As a result, when the cam 75 moves to the tip side, the end effectors 71 and 72 operate so that the gripping surface of the tip opens, i.e., releases the grip of the object, and when the cam 75 moves to the base end side, the gripping surface of the tip closes, i.e., operates to grip the object.

[0061] Next, a detailed description will be given of the operation section 8 of the forceps device 1. Fig. 5 is an exploded view of the operation section of the forceps device.

[0062] The operation unit 8 has operation unit cases 81 and 82, a finger hook 84, a rotation block 85, a lock bolt 86, a ratchet pawl 87, a ratchet gear 88, and a ratchet release button 89.

[0063] The operation unit case 81 is provided with a finger hook 83. The finger hook 83 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 clamping unit 7.

[0064] Finger hook 84 is a portion into which the thumb of one hand (basically the same hand as the fingers used for finger hook 83) is inserted to hold forceps device 1 and apply driving force for opening and closing clamping section 7. Finger hook 84 is rotatably attached to operation sections 81, 82, and the angle between finger hook 84 and finger hook 83 is adjustable. A ratchet gear 88 is attached to finger hook 84.

[0065] The finger hook 84 has an operating line engaging portion 84a that engages with the engaging portion 36e of the operating line 36. In this embodiment, when the finger hook 84 is rotated in a direction that reduces the angle between it and the finger hook 83, the engaging portion 36e of the operating line 36 can be moved to the negative side of the X-axis, i.e., the operating line 36 can be pulled toward the base end, and when the finger hook 84 is rotated in a direction that increases the angle between it and the finger hook 83, the engaging portion 36e of the operating line 36 can be moved to the positive side of the X-axis, i.e., the operating line 36 can be pushed toward the tip end.

[0066] Lock bolt 86 is disposed at the top of operation unit cases 81, 82, and can be tightened to fix rotation block 85 so that it cannot rotate. In this embodiment, lock bolt 86 can be tightened at a position facing flat surface portion 85b of rotation block 85 to fix main body portion 2 and operation unit 8 so that forceps device 1 is in a left-handed state or a right-handed state.

[0067] A slit 82a having a shape corresponding to the rib 21a of the main body case 21 is formed on the inner circumference of the operation unit case 82 on the negative side of the Y axis. A removal mark 82b indicating the position of the slit 82a is provided on the outer circumference side of the operation unit case 82 corresponding to the slit 82a.

[0068] The rotating block 85 is substantially cylindrical and is housed in the operation unit cases 81 and 82 so as to be rotatable around the X-axis by a predetermined angle (for example, 180 degrees). The center of rotation of the rotating block 85 is located at a position that substantially coincides with the axis of the main shaft 41. An engagement hole 85a that engages with the outer shape of the base end of the main body 2 is formed on the base end side of the rotating block 85. In this embodiment, the engagement hole 85a is, for example, semi-cylindrical. On the outer periphery of the rotating block 85, flat portions 85b are provided at positions that become the upper portion of the main body 2 when the forceps device 1 is in the left-hand state and at positions that become the upper portion of the main body 2 when the forceps device 1 is in the right-hand state.

[0069] A ratchet pawl 87 is attached to the operation unit case 81. The ratchet pawl 87 engages with a ratchet gear 88 to restrict the pinching portion 7 of the finger hook 84 from turning in the opening direction and to allow the pinching portion 7 of the finger hook 84 to turn in the closing direction.

[0070] The ratchet release button 89 is attached to the operation unit case 82 via a pin 90. When pressed, the ratchet release button 89 releases the engagement between the ratchet pawl 87 and the ratchet gear 88. This allows the finger hook 84 to rotate in the pinching portion 7 opening direction.

[0071] With the above-mentioned configuration, the operation unit 8 can be rotated, for example, 180 degrees relative to the main body 2 (strictly speaking, about the axis of the main shaft 41), and the operation unit 8 and the main body 2 can be put into a left-handed state, and the operation unit 8 and the main body 2 can be put into a right-handed state by rotating the operation unit 8 from the left-handed state to the opposite side (for example, 180 degrees). The rotation angle for changing from the left-handed state to the right-handed state may be a predetermined angle within a range of, for example, 160 to 200 degrees.

[0072] Next, the forceps device 1 in the left-handed state will be described. Figure 6 shows a top view, a side view, and a rear view of the forceps device 1, where (a) is a top view, (b) is a side view, and (c) is a rear view.

[0073] In the left-handed state, the operation dials 31, 33 of the main body 2 of the forceps device 1 are located on the positive side of the Y axis of the main body 2. The operation dial 33 is positioned so as to be within reach of and operable by the index finger of the left hand when the thumb of the left hand is inserted into the finger hook 84 and the middle finger of the left hand is inserted into the finger hook 83. Therefore, the user can operate the operation dial 33 with only the left hand to bend and straighten the bending portion 6.

[0074] Next, the forceps device 1 in the right-handed state will be described. Fig. 7 is a perspective view of the forceps device in the right-handed state, and Fig. 8 is a top view, a side view, and a rear view thereof, where (a) shows the top view, (b) shows the side view, and (c) shows the rear view.

[0075] As described above, the forceps device 1 can be set from the left-handed state to the right-handed state shown in Fig. 7 by rotating the operation unit 8 180 degrees relative to the main body 2. Note that Fig. 7 shows the forceps device 1 in the right-handed state with the operation unit 8 facing in the same direction, and therefore the main body 2 is rotated 180 degrees in the left-handed state.

[0076] In the right-handed state, the operation dials 31, 33 of the main body 2 of the forceps device 1 are located on the negative side of the Y axis of the main body 2. The operation dial 31 is positioned so as to be within reach of and operable by the index finger of the right hand when the thumb of the right hand is inserted into the finger hook 84 and the middle finger of the right hand is inserted into the finger hook 83. Therefore, the user can operate the operation dial 31 with only the right hand to bend and straighten the bending portion 6.

[0077] In the forceps device 1 in the left-handed state, the operation of pulling the operation dial 33 toward you with the index finger of the left hand, i.e., the operation of rotating the operation dial 33 in the direction of the arrow R3 (FIG. 6(a)), and the operation of pulling the operation dial 31 toward you with the index finger of the right hand in the forceps device 1 in the right-handed state, i.e., the operation of rotating the operation dial 31 in the direction of the arrow R4 (FIG. 8(a)), are operations that rotate the worm 23 in the same direction and perform the same operation on the bending portion 7 (in this embodiment, the operation of bending the bending portion 7). Therefore, regardless of which hand is used, if the operation of pulling the operation dial toward you with the index finger is performed, the bending portion 7 will operate in the same way, so that the user can use it easily and appropriately with an intuitive operation.

[0078] Next, a connection state between the main body and the operation unit of the forceps device in the left-handed state will be described. Fig. 9 is a diagram showing the connection state between the main body and the operation unit of the forceps device in the left-handed state. In Fig. 9, (a) is a side view of the main body and the operation unit, (b) is a cross-sectional view, and (c) is a front view of the operation unit.

[0079] In the left-handed state of the forceps device 1, the rib 21a of the main body 2 is located on the positive side of the Z axis as shown in FIG. 9(b), while the slit 82a of the operating unit 8 is located on the negative side of the Y axis as shown in FIG. 9(c). Since the positions of the two do not match, the operating unit 8 cannot be removed from the main body 2.

[0080] Next, the attachment and detachment of the main body 2 and the operation unit 8 of the forceps device 1 will be described. Fig. 10 is a diagram showing the state when the main body and operation unit of the forceps device are attached and detached. In Fig. 10, (a) is a side view of the main body and operation unit of the forceps device when attached and detached, (b) is a cross-sectional view of the main body and operation unit of the forceps device taken along line BB, and (c) is a front view of the operation unit of the forceps device when attached and detached.

[0081] In the forceps device 1 in the left-handed state shown in FIG. 9(a), when removing the operation unit 8 from the main body 2, the main body 2 and the operation unit 8 are rotated relative to each other so that the removal mark 21d of the main body 2 and the removal mark 82b of the operation unit 8 face each other (in this embodiment, the main body 2 is rotated relative to each other so that the operation dial 31 faces the front side of the figure), resulting in the state shown in FIG. 10(a) (attached / detached state).

[0082] In the state shown in Fig. 10(a), as shown in Fig. 10(b) and Fig. 10(c), the rib 21a of the main body 2 and the slit 82a of the operation unit 8 are located at the same position on the negative side of the Y axis. Therefore, the rib 21a of the main body 2 is movable in the X axis direction via the slit 82a, and the operation unit 8 can be removed from the main body 2. When the operation unit 8 is attached to the main body 2, the rib 21a of the main body 2 is introduced into the operation unit 8 via the slit 82a in the same positional relationship as immediately after the main body 2 and the operation unit 8 are removed, and then the operation unit 8 and the main body 2 are rotated relative to each other.

[0083] Next, the bending portion 6 of the forceps device 1 will be described in detail. FIG. 11 is an enlarged view of the bending portion of the forceps device. In FIG. 11, (a) is a front view of the bending portion 6 in a straight state, (b) is a cross-sectional view thereof, (c) is a side view of the bending portion 6 in a straight state from a direction perpendicular to the bending surface, (d) is a cross-sectional view of the bending portion 6 at line CC, and (e) is a side view of the bending portion 6 in a bent state. FIG. 12 is a diagram for explaining the configuration of the link parts of the bending portion and the method of connecting the link parts. In FIG. 12, (a) shows a front view of the link parts of the bending portion before connection, (b) shows a cross-sectional view of the link parts of the bending portion before connection, (c) shows a front view of the link parts of the bending portion after connection, and (d) shows a cross-sectional view of the link parts of the bending portion after connection.

[0084] The bending portion 6 includes a tip link part 61, a plurality of link parts 62, and a base link part 63, which are connected in series. The tip side of the tip link part 61 can be attached to the base side of the clamping part 7 so as to be rotatable relative to the tip side. The configuration of the base side of the tip link part 61 is the same as the configuration of the base side of the link part 62. The tip link part 61 is formed with two recesses 61a which engage with the engagement terminal 37c of the operating wire 37 and the engagement terminal 38c of the operating wire 38.

[0085] The base end link part 63 has a shaft engagement part 63a on the base end side that is inserted into the tip side of the main shaft 41 and engages with it so as to be rotatable together. The configuration of the tip side of the base end link part 63 is similar to the configuration of the tip side of the link part 62.

[0086] As shown in FIG. 11(c), the tip side of the link part 62 has an upper surface contact portion 62c having a surface perpendicular to the axial direction in the straight state, and the base end side has a straight-state contact portion 62a having a surface perpendicular to the axial direction in the straight state, and a bent-state contact portion 62b having a surface that is inclined toward the tip side relative to the surface perpendicular to the axial direction in the straight state.

[0087] In the bending portion 6, as shown in FIG. 11(d), a hole 64 for an operating wire is formed in the center, through which the operating wire 36 is passed, a hole 66 for an operating wire is formed on the straight contact portion 62a side, through which the operating wire 37 is passed, and a hole 65 for an operating wire is formed on the bending portion contact portion 62b side, through which the operating wire 38 is passed.

[0088] As shown in FIG. 12(b), the link part 62 has an upper wall portion 62d, an upper wall portion 62h formed on the opposite side of the upper wall portion 62d from the upper wall portion 62d with respect to the bending surface, an upper convex portion 62e (an example of a second convex portion) protruding outward from the upper wall portion 62d on a line perpendicular to the bending surface, an upper hole portion 62i (an example of a second concave portion) formed in the upper wall portion 62h on the same line as the protruding direction of the upper convex portion 62e, a lower wall portion 62j located radially inward from the upper wall portion 62h, a lower wall portion 62f formed on the opposite side of the lower wall portion 62j with respect to the bending surface and located radially outward from the upper wall portion 62d, a lower convex portion 62k (an example of a first convex portion) protruding outward from the lower wall portion 62j on a line perpendicular to the bending surface, and a lower hole portion 62g (an example of a first concave portion) formed in the lower wall portion 62f on the same line as the protruding direction of the lower convex portion 62k. Here, the bending plane is a plane along which bending portion 6 moves when bending, and in FIG. 12, is a plane perpendicular to the paper surface and extending in the up-down direction of the paper surface.

[0089] When connecting the link part 62 on the tip side and the link part 62 on the base side, it is only necessary to move the link part 62 on the tip side (upper side in the figure) from the state shown in Fig. 12(a) to the left, and the link part 62 on the tip side and the link part 62 on the base side are connected as shown in Fig. 12(c). In this case, as shown in Fig. 12(d), the lower convex part 62k of the link part 62 on the tip side is loosely fitted (rotatably fitted) into the upper hole part 62i of the link part 62 on the base side, and the upper convex part 62e of the link part 62 on the base side is loosely fitted into the lower hole part 62g of the link part 62 on the tip side. In this way, according to the link part 62 of this embodiment, each link part can be easily connected.

[0090] Returning to the explanation of Fig. 11, in the bent portion 6 in the straight state, the straight contact portion 62a of the link component 62 comes into contact with the upper contact portion 62c of the base end side component (the link component 62 or the base end link component 63) as shown in Fig. 11(c). The positions of the link component 62 and the base end side component are restricted by the lower convex portion 62k of the tip end side link component 62 and the upper convex portion 62e of the base end side component. This makes it possible to increase the effectiveness against bending in the straight state of the bent portion 6, i.e., to increase the rigidity of the bent portion 6 in the straight state, and to maintain the straight state of the bent portion 6 relatively stably.

[0091] On the other hand, in the bent portion 6 in the bent state, the bent contact portion 62b of the link component 62 comes into contact with the upper contact portion 62c of the base end component (the link component 62 or the base end link component 63) as shown in Fig. 11(e). The positions of the link component 62 and the base end component are restricted by the lower convex portion 62k of the tip end link component 62 and the upper convex portion 62e of the base end component. This increases the effect of inhibiting bending of the bent portion 6 in the bent state, and the bent state can be maintained relatively stably.

[0092] Next, the configuration and operation related to the bending and straightening operation of the bending portion 6 in the forceps device 1 will be described in detail. Fig. 13 is a diagram for explaining the configuration and operation related to the bending and straightening operation of the bending portion of the forceps device. In Fig. 13, (a) shows the forceps device in a straight state, and (b) shows the forceps device in a bent state. Fig. 14 is a diagram for explaining in detail the configuration related to the bending and straightening operation of the bending portion of the forceps device, and shows a state in which the upper parts of the worm wheel 24 have been removed. In Fig. 14, (a) shows a part of the forceps device in a straight state, and (b) shows a part of the forceps device in a bent state.

[0093] In the forceps device 1, as shown in FIG. 13(a), an operating wire 37 is connected to the slide portion 27. An engagement terminal 37c at the tip of the operating wire 37 is arranged so as to be connected to the straight side (the side where the contact portion 62a when straightened is located) of the tip of the bending portion 6. When the operating wire 37 is pulled toward the base end, it acts to make the bending portion 6 straight. On the other hand, an operating wire 38 is connected to the slide portion 28. An engagement terminal 38c at the tip of the operating wire 38 is arranged so as to be connected to the bent side (the side where the contact portion 62b when bent is located) of the tip of the bending portion 6. When the operating wire 38 is pulled toward the base end, it acts to make the bending portion 6 bent.

[0094] In the forceps device 1, in the straight state, as shown in FIG. 13(a), the slide parts 27 and 28 are at almost the same position on the X axis. The length of the operating wire 38 from the slide part 28 to the engaging part of the bent part 6 is longer than the length of the operating wire 37 from the slide part 27 to the engaging part of the bent part 6, so that the operating wire 37 is in a state of being pulled toward the base end side, while the operating wire 38 is in a state of being loose. In this case, as shown in FIG. 14(a), the straight side contact part 24b of the worm wheel 24 is in a state of being in contact with the main body case 21. Here, the worm wheel 24 has, for example, a partially circular shape, and has two pin installation holes 24a at positions symmetrical with respect to the rotation axis on the surface on the negative side of the Y axis. When the worm wheel 24 is in the straight state, it is rotated in the clockwise direction (arrow R5), and when the worm wheel 24 is in the bent state, it is rotated in the counterclockwise direction (arrow R6). The edge portion that is the clockwise tip of the worm wheel 24 has a straight side contact portion 24b that comes into contact with the main body case 21 when rotated to the maximum in the clockwise direction, and the edge portion that is the counterclockwise tip of the worm wheel 24 has a bent side contact portion 24c that comes into contact with a mechanical end 39 (an example of a maximum amount adjustment portion) when rotated to the maximum in the counterclockwise direction.

[0095] When changing the forceps device 1 from the straight state shown in Fig. 13(a) to the bent state shown in Fig. 13(b), the user needs to rotate the worm 23 by rotating the operation dial 31, and rotate the worm wheel 24 in the counterclockwise direction (arrow R6) as shown in Fig. 14(b). When the worm wheel 24 is rotated in the counterclockwise direction (arrow R6), the bent side contact portion 24c of the worm wheel 24 rotates to a position where it contacts the mechanical end 39.

[0096] When the worm wheel 24 is rotated in this manner, the two pins 29 rotate in conjunction with the rotation of the worm wheel 24. As the pins 29 rotate, as shown in Fig. 13(b), the slide portion 28 in which the pins 29 are housed in the long holes 28a moves linearly along the slide grooves 21c toward the negative side of the X-axis, pulling the operating wire 38 toward the base end, and the slide portion 27 in which the pins 29 are housed in the long holes 27a moves linearly along the slide grooves 21b toward the positive side of the X-axis, moving the operating wire 37 toward the tip end, and the bending portion 6 is bent.

[0097] As described above, the worm wheel 24 rotates in the counterclockwise direction (arrow R6) to a position where the bending side contact portion 24c contacts the mechanical end 39. When the worm wheel 24 is rotated counterclockwise to the maximum in this way, the tension applied to the operating wire 38 that bends the bending portion 6 is maximum. For example, due to variations in the manufacturing precision of the operating wire 38 and changes over time due to use of the operating wire 38, the tension applied to the operating wire 38 may not be appropriate when the worm wheel 24 is rotated counterclockwise to the maximum. Therefore, the mechanical end 39 of this embodiment is configured to be able to adjust the position where it contacts the bending side contact portion 24c of the worm wheel 24.

[0098] Next, a configuration of the mechanical end 39 capable of adjusting the position of contact with the bent side contact portion 24c of the worm wheel 24 will be described. Fig. 15 is a diagram for explaining the mechanical end of the forceps device. Fig. 15(a) is a perspective view of the mechanical end 39, Fig. 15(b) is a side view of the mechanical end, and Fig. 15(c) is a cross-sectional view of the mechanical end 39 taken along line DD.

[0099] The mechanical end 39 has a cylindrical portion 39a, a cylindrical portion 39b, a contact portion 39c, and a contact portion fixing hole 39d. The cylindrical portions 39a and 39b are portions that come into contact with the main body case 21 when the mechanical end 39 is rotatably installed on the main body case 21. The central axes (cylinder portion center 39o) of the cylindrical portions 39a and 39b are coaxial.

[0100] The contact portion 39c is a portion that comes into contact with the bent side contact portion 24c of the worm wheel 24, and has a contact surface 391 that is a distance D1 away from the cylindrical center 39o, a contact surface 392 that is a distance D2 away from the cylindrical center 39o, a contact surface 393 that is a distance D3 away from the cylindrical center 39o, and a contact surface 394 that is a distance D4 away from the cylindrical center 39o, as shown in FIG. 15(c). Here, the distance D1>distance D2>distance D3>distance D4. According to the contact portion 39c, the surface that comes into contact with the bent side contact portion 24c of the worm wheel 24 can be adjusted to any one of the contact surfaces 391 to 394 depending on the installation state of the contact portion 39c relative to the main body case 21, and the position where the mechanical end 39 comes into contact with the bent side contact portion 24c of the worm wheel 24 can be adjusted. For example, if the maximum tension applied to the operating wire 38 is to be weakened, a contact surface that is a long distance from the center 39o of the cylindrical portion can be selected, and if the maximum tension applied to the operating wire 38 is to be strengthened, a contact surface that is a short distance from the center 39o of the cylindrical portion can be selected.

[0101] The contact portion fixing hole 39d is a hole for inserting a screw (not shown) to fix the contact surface selected to contact the bent side contact portion 24c of the worm wheel 24 in a position where it contacts the bent side contact portion 24c of the worm wheel 24.

[0102] Next, an operation for adjusting the tension of the operating wires 37, 38 during production or maintenance of the forceps device 1 will be described.

[0103] First, a method for adjusting the tension of the operating wire 37 that pulls the bent portion 6 in a straight state will be described. When adjusting the tension of the operating wire 37, the adjustment nuts 48, 49 are rotated to adjust the X-axis position of the tip cap 51. This allows the X-axis position of the main shaft 41 fixed to the tip cap 51 to be adjusted, and as a result, the length from the slide portion 27 to the engagement portion of the operating wire 37 of the bent portion 6 can be adjusted, that is, the tension of the operating wire 37 can be adjusted. For example, if it is desired to increase the tension of the operating wire 37, it is sufficient to move the nuts 48, 49 toward the tip side, and if it is desired to decrease the tension of the operating wire 37, it is sufficient to move the nuts 48, 49 toward the base end side.

[0104] This adjustment method makes it possible to appropriately adjust the tension of the operating wire 37 in the straight state, that is, the rigidity of the bent portion 6 in the straight state.

[0105] Next, a method for adjusting the tension of the operating wire 38 that pulls the bent portion 6 in the bent state will be described. When adjusting the tension of the operating wire 38, the surface that comes into contact with the bent side contact portion 24c of the mechanical end 39 may be adjusted to any of the contact surfaces 391 to 394. When an appropriate contact surface has been determined, it may be fixed in that state by inserting a screw (not shown) into the contact portion fixing hole 39d.

[0106] This adjustment method makes it possible to appropriately adjust the tension of the operating wire 38 in the bent state, i.e., the rigidity of the bent portion 6 in the bent state. This makes it possible to appropriately prevent a situation in which excessive tension is applied to the operating wire 38 in the bent state, causing damage to the operating wire 38, etc.

[0107] The technology disclosed in this specification is not limited to the above-described embodiments, and can be modified in various forms without departing from the spirit of the invention. For example, the following modifications are also possible.

[0108] For example, in the above-described embodiment, the operating lines 36, 37, and 38 are configured from a plurality of members, but the present invention is not limited to this, and for example, they may be configured from the same member, such as a wire rope.

[0109] In the above-described embodiment, the convex portions (upper convex portion 62e, lower convex portion 62k) and at least some of the holes (lower hole portion 62g, upper hole portion 62i) of the link component 62 may be configured to act as stoppers that prevent the convex portions from coming out of the holes after the convex portions are inserted into the holes. For example, the diameter of some of the convex portions may be made larger than the diameter of the hole portion located on the inner side of the diameter of the convex portions.

[0110] In the above-described embodiment, the worm wheel 24 was rotated to move the slide portions 27, 28 axially, thereby pulling and pushing the operating wires 37, 38 to bring the bending portion 6 into a bent or straight state. However, the present invention is not limited to this, and for example, the operating wires 37, 38 may be fixed to a pulley that rotates together with the worm wheel, and the operating wires 37, 38 may be pulled and pushed to bring the bending portion 6 into a bent or straight state.

[0111] In the above embodiment, the contact portion 39c of the mechanical end 39 has multiple flat surfaces that are different distances from the center 39o of the cylindrical portion, but the present invention is not limited to this. For example, the contact portion may have a curved surface whose distance from the center 39o of the cylindrical portion changes continuously.

[0112] In the above embodiment, the state shown in FIG. 1 is described as the left-hand state, and the state shown in FIG. 7 is described as the right-hand state. However, the present invention is not limited to this, and the state shown in FIG. 1 may be the right-hand state, and the state shown in FIG. 7 may be the left-hand state.

[0113] In the above-described embodiment, the end effectors 71 and 72 have a function of gripping an object, but the present invention is not limited to this, and the end effectors may have a function of cutting an object.

[0114] The present invention is not limited to the configuration of the above-mentioned embodiment, but is intended to include all modifications within the scope of the claims and meaning equivalent to the claims. For example, the "straight state" of the bent portion 6 may include not only a strictly straight state, but also a "substantially straight" state that includes a certain range that does not impair the same technical meaning. [Explanation of symbols]

[0115] 1 Forceps device 2 Main unit 4 Shaft section 6 Bend 7 Clamping part 8 Control section 21, 22 Main body case 21a rib, 21b, 21c guide groove, 21d removal mark 23 Warm 24 Worm Wheel 24a pin installation hole, 24b straight side contact portion, 24c bent side contact portion 25 Height adjustment member 26 Worm wheel shaft 27,28 Slide section 27a, 28a: long hole; 27b, 28b: protrusion 29 pin 30 Screws 31,33 Operation dial 32,34 Screw 35 Clamping part rotation dial 35a through hole 36 Operating Line 36a hypotube, 36b hypotube, 36c wire, 36d hollow wire, 36e engagement part 37,38 Operating Line 37a, 38a Hypotube, 37b, 38b Wire, 37c,38c Engagement terminal 39 Mecha End 39a, 38b cylindrical portion, 39c contact portion, 39d contact portion fixing hole 39o Center of cylinder 41 Main shaft 42 Engagement part 42a Regulating groove 43 Main shaft dial 43a Position control groove 44 Dial Cap 45,46 Mounting ring 47 Shaft support 47a base end, 47b square column portion, 47c threaded portion, 47d tip portion 48,49 Adjustment nut 50 Mid Cap 51 Tip cap 51a hole 61 End link parts 62 Link parts 62a Contact part when straight, 62b Contact part when bent, 62c Top contact part 62d upper wall portion, 62e upper convex portion, 62f lower wall portion 62g lower hole, 62h upper wall, 62i upper hole 62j lower wall portion, 62k lower convex portion, 63 Base end link parts 64,65,66 Operation line hole 71,72 End effector 71a,72a protrusion, 71b,72b hole 73 pin 74 Clamping part main body 74a slide groove, 74b hole 75 Cam 75a, 75b oblique groove, 75c convex portion 81,82 Control unit case 82a Slit, 82b Removal mark 83,84 Finger hook 84a Operation line engagement part 85 Rotating Block 85a Engagement hole, 85b Plane part 86 Rock Bolt 87 Ratchet Claw 88 Ratchet Gear 89 Ratchet release button 90 Screw

Claims

1. 1. A forceps device comprising: A clamping portion capable of clamping an object; A bending portion connected to a base end side of the clamping portion and capable of being in a straight state or a bent state; A shaft portion connected to a base end side of the bent portion; A main body portion having a bending operation portion capable of operating bending by the bending portion; an operation unit that allows a user to perform a pinching operation of the pinching unit with the fingers of one hand; Equipped with the operating unit is capable of being arranged in a predetermined first state with respect to an axis of the shaft portion, and is also capable of being arranged in a second state obtained by rotating the first state to the opposite side around the axis of the shaft portion, The bending operation unit has a first operation dial for bending within a range operable by the fingers of one hand operating the operation unit when the operation unit is disposed in the first state, and has a second operation dial for bending within a range operable by the fingers of one hand operating the operation unit when the operation unit is disposed in the second state. forceps device.

2. The operating portion is rotatable around the axis of the shaft portion. The forceps device of claim 1 .

3. The operation unit is detachable from the main body unit. The forceps device according to claim 1 or 2.

4. One end of a pair of operating wires is connected to a tip of the bent portion, an adjustment unit that is connected to the other end of the pair of operating wires and that rotates around a predetermined axis to pull one of the operating wires and adjust the tension of the operating wires; The adjustment unit can be rotated by rotating the first operation dial or the second operation dial. The forceps device according to any one of claims 1 to 3.

5. The adjustment unit has a worm wheel and a worm that screws into the worm wheel, The first operating dial and the second operating dial are capable of rotating the axis of the worm. The forceps device according to claim 4.

6. The first operating dial and the second operating dial are capable of rotating the shaft of the worm in the same direction when rotated in the same direction. The forceps device according to claim 5.

7. The shaft portion further includes a shaft adjustment portion that is capable of rotating the shaft portion around the axis of the shaft portion. The forceps device according to any one of claims 1 to 6.

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