Remotely operable remote control scissors, an opening / closing control device for the remote control scissors, and an opening / closing control system for the remote control scissors

Abstract

To provide remotely controllable remote control scissors with surgical scissors, opening / closing control devices for controlling opening / closing movement of working parts of such the remote control scissors, and an opening / closing control system of the remote control scissors.SOLUTION: Opening / closing control systems 100, 200, 300 of remote control scissors 10, 210, 310 include: remotely controllable remote control scissors arranged in a cavity VC, and opening / closing control devices 50, 350 for remotely controlling the coming-on / off movement MV of driven parts 23, 223, 323. The remote control scissors have permanent magnet bodies 30, 230, 330 for making the driven parts have coming-on / off movement by the external magnetic field OMF. The opening / closing control devices have multiple external electromagnets 53A, 353A arranged around the permanent magnet bodies, and generating external magnetic field; drive power sources 52, 352 of the external electromagnets; and magnet movement control parts 51, 351 for controlling an electromagnet current IM being made to flow by the drive power sources to control the external magnetic field, and controlling the movement of the permanent magnet bodies.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a remotely operable surgical scissor tool including surgical scissors such as forceps, tweezers, and scissors, an opening / closing control device for controlling the opening / closing movement of the working part of such a remotely operable surgical scissor tool, and an opening / closing control system for the remotely operable surgical scissor tool.

Background Art

[0002] In the surgical operations of humans and animals, surgical instruments such as forceps, tweezers, and scissors (hereinafter, these instruments are also referred to as "surgical scissor tools") are sometimes used to hold, expand, or cut members such as affected tissue and threads. When using these, a pair of operated parts of the surgical scissor tools are operated with the fingers of the surgeon. Specifically, they are moved apart and approached so as to move apart and approach each other. Thereby, a pair of working parts are moved to open and close. Specifically, a pair of clamping parts for clamping the tissue of an organ or the like, a pair of blade parts for cutting an affected part or the like by cutting, etc. are opened and closed.

[0003] In addition, in a surgical support robot system, there is also a case where forceps or the like are attached to the tip of a robot arm so as to be operable, and the robot arm is inserted through a hole opened in the body cavity of a patient to operate the attached forceps or the like. For example, Patent Document 1 can be cited as such a technique.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when the surgical site is a difficult area for the surgeon's fingers or robotic arms to insert or operate, or when extremely small surgical scissors are desired, etc., there are cases where, after placing the surgical scissors in the cavity that is the body cavity or the lumen of the tubular organ, it is desired to remotely operate the surgical scissors non-contact from outside the cavity such as outside the body. The present invention has been made in view of such a situation, and an object thereof is to provide a remotely operable remote operation scissors including surgical scissors, an opening / closing control device for controlling the opening / closing movement of the working part of such remote operation scissors, and an opening / closing control system for the remote operation scissors.

Means for Solving the Problems

[0006] (1) One aspect of the present invention for solving the above problems is an opening Moving and A pair of working parts that act on an object by opening and closing movements, and a pair of driven parts that are spaced apart from each other Separation movement and with each other Approach Contacting By approaching and moving, the pair of working parts are The above Open Movement and the above A surgical scissors having a pair of driven parts that close and move, and a pair of permanent magnets respectively attached to the pair of driven parts of the surgical scissors, receiving a magnetic force by an external magnetic field, and moving the pair of driven parts apart Movement and the above Approach and move, and a remotely operable remote operation scissors. Remote operation scissors tool, wherein the external magnetic field is an external magnetic field that applies the magnetic force from outside the remote operation scissors tool to the permanent magnet body

[0007] The above-mentioned remotely operable remote operation scissors, in addition to surgical scissors having a pair of working parts and a pair of driven parts, are respectively attached to the pair of driven parts, and are spaced apart from each other Moving and It is provided with a permanent magnet that approaches and moves. As a result, Applying magnetic force from outside the remote operation scissors tool to this permanent magnet body By appropriately changing the external magnetic field, a magnetic force is applied to the permanent magnets provided on the pair of driven parts respectively, and the pair of driven parts can be moved apart Moving and Approach and move, and by non-contact remote operation, the pair of working parts of the surgical scissors can be opened and closed, and an action such as cutting or clamping can be exerted on an object such as a diseased part.

[0008] ​Note that the permanent magnet mounted on one driven part and the permanent magnet mounted on the other driven part may have the same shape and be arranged symmetrically with respect to each other, or depending on the difference in the form and role between one driven part and the other driven part, permanent magnets with different forms or numbers may be used, or they may be arranged asymmetrically. In addition, in the above-described remotely operable surgical scissors, a permanent magnet is mounted on the driven part of the surgical scissors. However, in order to exert an action or magnetic force different from the drive of the driven part on other parts of the surgical scissors, for example, in order to obtain a magnetic force used to hold or change the posture or orientation of the surgical scissors, another permanent magnet can be separately mounted.

[0009] (2) Here, at least the pair of driven parts is preferably a remotely operable surgical scissors of (1) made of a non-magnetic material.

[0010] When the driven part is magnetized (magnetized) by the permanent magnet mounted on the driven part, the external magnetic field is disturbed by the magnetized driven part. Therefore, it may be difficult to appropriately control the movement of the permanent magnets mounted on the pair of driven parts of the surgical scissors by the external magnetic field. On the other hand, in this remotely operable surgical scissors, at least the pair of driven parts is made of a non-magnetic material, and the driven part is not magnetized by the permanent magnet mounted on the driven part. Therefore, compared with the case where the driven part is magnetized, it is possible to prevent the difficulty of controlling the movement of the permanent magnet by the external magnetic field.

[0011] Examples of the non-magnetic material constituting the pair of driven parts and the like include non-magnetic metals such as copper, copper alloy, aluminum, aluminum alloy, austenitic stainless steel, resins such as PTFE, silicone resin, polyethylene, and PET, ceramics such as alumina, and glass such as borosilicate glass.

[0012] Furthermore, it is preferable that the entire surgical scissors be the above-described remotely operable surgical scissors made of a non-magnetic material. By making the action part and the fulcrum part close to the driven part on which the permanent magnet is mounted also non-magnetic, the influence caused by the magnetization of these parts can also be reduced.

[0013] (3) Another aspect is disposed in a cavity that is the lumen of a body cavity or a luminal organ, As described in (1) In a remotely operable remote control scissors, the separation of the pair of driven parts Movement and the above An opening / closing control device for a remote control scissors that remotely controls the approaching movement of the remote control scissors, Above A plurality of external electromagnets that are disposed around the permanent magnet body of the remote control scissors and generate the external magnetic field, a drive power source that supplies an electromagnetic current to the plurality of external electromagnets, and the electromagnetic current flowing through the drive power source are respectively controlled to control the generated external magnetic field and control the movement of the permanent magnet body of the remote control scissors. An opening / closing control device for a remote control scissors comprising a magnet movement control unit.

[0014] The above-described opening / closing control device includes a plurality of external electromagnets that generate an external magnetic field, a drive power source that supplies an electromagnetic current, and a magnet movement control unit that controls the external magnetic field, and can control the movement of the permanent magnet body in the remote control scissors. Thereby, by non-contact remote operation, the pair of acting parts of the remote control scissors can be opened Moving and and closed to act on an object such as a diseased part by cutting, clamping, etc.

[0015] (4) An opening / closing control device for a remote control scissors according to (3), wherein at least any one of the plurality of external electromagnets is preferably an opening / closing control device for a remote control scissors disposed outside the body.

[0016] In this opening / closing control device, at least any one of the plurality of external electromagnets is disposed outside the body. The external electromagnet disposed outside the body can have a high degree of freedom in terms of its structure, material, magnitude of current that can flow, arrangement, etc., so that design and control can be easily performed.

[0017] Note that the external electromagnets outside the body may have a fixed position and posture, but for some or all of the external electromagnets outside the body, within the range outside the body, their position or posture may be changeable. In this case, in the surgery using the remotely operated scissors, by changing the position and posture of the external electromagnets outside the body according to the type of the remotely operated scissors used and the surgical site, etc., a more appropriate external magnetic field can be generated.

[0018] (5) Further, it is a closing and opening control device for the remotely operated scissors described in (4), and it is preferable that any of the plurality of external electromagnets is a closing and opening control device for the remotely operated scissors arranged outside the body.

[0019] In this closing and opening control device, since any of the plurality of external electromagnets used is arranged outside the body, the degree of freedom in terms of structure, material, etc. is high, and in particular, the design and control can be easily performed.

[0020] (6) Alternatively, it is a closing and opening control device for the remotely operated scissors described in (3), which has the external electromagnet and a support member that supports the external electromagnet at the tip and extends a pair of terminals of the external electromagnet from the rear end, and it is preferable that it is a closing and opening control device for the remotely operated scissors including a magnet insertion tool that positions the tip of the support member and the external electromagnet in the body cavity, positions the rear end of the support member outside the body, and enables the pair of terminals to be connected to the drive power source.

[0021] In this closing and opening control device, it includes a magnet insertion tool that supports an external electromagnet at the tip of a support member and enables a pair of terminals of the external electromagnet led out from the rear end of the support member to be connected to a drive power source. Therefore, the external electromagnet of the magnet insertion tool can be arranged near the remotely operated scissors arranged in a cavity located deep inside the body, etc., and the closing and opening of the remotely operated scissors can be remotely operated by a method similar to endoscopic surgery, such as controlling the magnetic field generated by the external electromagnet.

[0022] (7) Furthermore, it is an opening / closing control device for the remotely operated scissors described in (6), wherein the magnet inserter is supported at the tip of the support member and has a position changing actuator for changing the position of the external electromagnet positioned in the body cavity, and the magnet movement control unit is preferably an opening / closing control device for the remotely operated scissors having a position control unit for driving the position changing actuator to control the position of the external electromagnet.

[0023] This opening / closing control device has a magnet inserter, and in the same manner as in endoscopic surgery, the tip of the support member of the magnet inserter and the external electromagnet are inserted into the body cavity through a hole drilled in the body. However, there may be a case where it is desired to change the position of the external electromagnet in the body cavity (when it is desired to move the external electromagnet). In addition, in the human body or the like, due to breathing, pulsation, or the like, each part moves, and the external electromagnet may also move (position fluctuation).

[0024] On the other hand, in this opening / closing control device, the magnet inserter has a position changing actuator for changing the three-dimensional position of the external electromagnet (for example, the position indicated by the coordinates (x, y, z) in the xyz orthogonal coordinate system). In addition, the magnet movement control unit has a position control unit for driving the position changing actuator to control the position of the external electromagnet. Therefore, the position of the inserted external electromagnet in the body can be easily moved. In addition, it is possible to suppress the position fluctuation of the external magnet due to breathing or the like and control it to maintain the desired position.

[0025] Note that as the position changing actuator and the position control unit for controlling the same, for example, when the support member is straight tubular, a position changing actuator that allows the external electromagnet to move forward and backward along the axis of the support member (for example, taking this as the x-axis) and a position control unit for controlling the same, and further a position changing actuator and a position control unit that allow movement in a direction orthogonal to the axis (x-axis) can be mentioned.

[0026] (8) Further, it is the opening / closing control device for the remotely-operated scissors described in (6) or (7), wherein the magnet inserter is supported at the tip of the support member and has an attitude-changing actuator for changing the attitude of the external electromagnet positioned in the body cavity, and the magnet movement control unit has an attitude control unit for driving the above Posture change actuator to control the attitude of the external electromagnet, which is preferably an opening / closing control device for remotely-operated scissors.

[0027] In this opening / closing control device, a magnet inserter is provided. Similar to laparoscopic surgery, the tip of the support member of the magnet inserter and the external electromagnet are inserted into the body cavity through a hole drilled in the body. By the way, the external electromagnet has a directionality in the generated magnetic field. That is, even if the three-dimensional position of the external electromagnet (for example, coordinates (x, y, z)) is the same, the pattern of the generated magnetic field differs depending on the three-dimensional attitude of the external electromagnet (roll, yaw, pitch; the rotation angles around the respective axes of the xyz axes). There may be a case where it is desired to change the attitude of such an external electromagnet in the body cavity. In addition, due to breathing, pulsation, or the like in the human body or the like, each part of the body moves, and the external electromagnet may move (change in attitude).

[0028] On the other hand, this opening / closing control device has an attitude-changing actuator for changing the attitude (for example, yaw and pitch) of the external electromagnet in the magnet inserter. In addition, the magnet movement control unit has an attitude control unit for driving the attitude-changing actuator to control the attitude of the external electromagnet. Therefore, the attitude of the inserted external electromagnet in the body can be easily moved. Also, it is possible to suppress the attitude change of the external magnet due to breathing or the like and control it to maintain the desired attitude.

[0029] Incidentally, as the posture changing actuator and the posture control unit for controlling the same, for example, there may be mentioned a posture changing actuator provided near the tip of the support member and configured to be able to change the posture of an external electromagnet supported at the tip, and a posture control unit for controlling the same. More specifically, in the case where the support member is straight tubular and the external electromagnet is composed of a straight bar-shaped yoke and an electromagnetic coil wound around the yoke, the tip of the external electromagnet and the support member can be swung around the posture changing actuator provided near the tip of the support member in the axial direction of the external electromagnet (yoke).

[0030] (9) Still another aspect is disposed in a cavity that is a body cavity or the lumen of a luminal organ, As described in (1) remotely operable remote operation scissors-like instruments, and the separation of the pair of driven parts in the remote operation scissors-like instruments Movement and the above An opening / closing control system for remote operation scissors-like instruments comprising an opening / closing control device for remotely controlling the approaching movement, Above The opening / closing control device is disposed around the permanent magnet body of the remote operation scissors-like instruments, and includes a plurality of external electromagnets for generating the external magnetic field, a drive power source for passing an electromagnetic current through the plurality of external electromagnets, and a magnet movement control unit for controlling the electromagnetic current passed through the drive power source respectively to control the generated external magnetic field and control the movement of the permanent magnet body of the remote operation scissors-like instruments. It is an opening / closing control system for remote operation scissors-like instruments.

[0031] The above-described opening / closing control system includes a remote operation scissors-like instrument and an opening / closing control device. Among these, the remote operation scissors-like instrument has a permanent magnet body, while the opening / closing control device includes a plurality of external electromagnets for generating an external magnetic field, a drive power source for passing an electromagnetic current, and a magnet movement control unit for controlling the external magnetic field and controlling the movement of the permanent magnet body of the surgical scissors-like instrument. Therefore, in this opening / closing control system, by non-contact remote operation, the pair of working parts of the remote operation scissors-like instrument can be opened and closed to act on an object such as a diseased part by cutting or clamping.

[0032] In the above (1) to (4), the remotely operated surgical scissors have surgical scissors such as forceps, tweezers, and scissors, which are used to hold, expand, or cut tissues, etc. in the surgical operations of humans and animals. These surgical scissors include Roman type scissors and Greek type scissors. Among them, the Roman type scissors combine two members in an X shape so that the blades are joined together and are rotatably supported by a support shaft (essential, fulcrum), and the support shaft (fulcrum) exists in the middle between the blade (acting part, point of action) and the operation part (driven part, point of force). On the other hand, the Greek type scissors bend a single member with blades provided at both ends into a U shape or a V shape, use this part as the fulcrum, and make the blades at both ends meet each other. There is a grip part (driven part, point of force) in the middle between the blade (acting part, point of action) and the fulcrum, and it is in the form of, for example, the grip scissors or spring scissors in Japan.

[0033] Among the surgical scissors, a pair of acting parts are parts that exert actions such as clamping, expanding, pulling, pressing, and shearing (cutting) on an object, which is a member used in surgeries such as tissues of organs and threads, by opening and closing movements. For example, when the surgical scissors are forceps or tweezers, a pair of clamping parts among these that clamp, expand, pull, or press members such as tissues of organs and threads correspond. Also, when the surgical scissors are scissors, a pair of blade body parts provided with a blade part for cutting the affected part, etc. by shearing correspond. Moving and On the other hand, among the surgical scissors, a pair of driven parts are parts that are moved by a remotely operated permanent magnet body when moving a pair of acting parts to open and close, and these driven parts move away from and approach each other, and are parts that move a pair of acting parts to open and close by approaching and moving closer. On the other hand, among the surgical scissors, a pair of driven parts are parts that are moved by a remotely operated permanent magnet body when moving a pair of acting parts to open and close, and these driven parts move away from and approach each other, and are parts that move a pair of acting parts to open and close by approaching and moving closer. Moving and In moving a pair of acting parts to open and close, they are parts that are moved by a remotely operated permanent magnet body, and these driven parts move away from each other Separation movement and with each other approach Contacting In moving a pair of acting parts to open and close, they are parts that are moved by a remotely operated permanent magnet body, and these driven parts move away from each other Moving and approach and move closer to move a pair of acting parts to open and close.

[0034] In addition, examples of the permanent magnet used for the permanent magnet bodies respectively attached to the pair of driven parts include neodymium magnets, samarium cobalt magnets, ferrite magnets, and the like. For the permanent magnet bodies, for example, a plurality of permanent magnets each having a pair of magnetic poles with an N pole on one side and an S pole on the other side can be used. Also, a permanent magnet provided with three or more magnetic poles can be used. Further, the form of the permanent magnet body (permanent magnet) can be appropriately selected in consideration of the form of the driven part to be attached, such as a disc shape, a rectangular plate shape, a cylindrical shape, or the like. Furthermore, different forms of permanent magnet bodies may be attached to one driven part and the other driven part, and the magnetic pole arrangement of the permanent magnet bodies to be attached may be symmetric or asymmetric. Also, the permanent magnet bodies can be attached to the pair of driven parts by being fixed with an adhesive or caulking, etc., or a permanent magnet body in which the permanent magnet is held by a holder may be detachably attached to the driven part. By configuring the permanent magnet bodies to be detachable from the driven parts in this way, when cleaning, disinfecting, etc. the remotely operated scissors, the surgical scissors and the permanent magnet bodies can be separately cleaned, etc., so there is an advantage that they can be cleaned by a cleaning method suitable for each.

[0035] The body cavities include the cranial cavity, the thoracic cavity, and the abdominal cavity. Also, examples of the tubular organs include the digestive tract, the urinary tract, blood vessels, and the like. The remotely operated scissors are arranged in the cavity which is the inner cavity of the body cavity or the tubular organ, while the plurality of external electromagnets of the opening / closing control device are arranged around the permanent magnet body of the remotely operated scissors. Specifically, it includes cases where the remotely operated scissors arranged in the body cavity are operated by a plurality of external electromagnets arranged outside the body, cases where the remotely operated scissors arranged in the inner cavity of the tubular organ are operated by a plurality of external electromagnets arranged in the body cavity outside the organ or outside the body, and cases where the remotely operated scissors arranged in the body cavity are operated by a plurality of external electromagnets arranged in the body cavity but in a non-contact manner.

[0036] As an arrangement form of a plurality of external electromagnets in the opening / closing control device, any form of arrangement that can generate an external magnetic field capable of moving the permanent magnet body by arranging it around the permanent magnet bodies attached to a pair of driven parts of the remotely operated scissors can be appropriately adopted. For example, while arranging the remotely operated scissors in the cavity, an arrangement form in which a large number of external electromagnets with one magnetic pole facing inward are arranged annularly in one or multiple stages outside the body can be cited. Also, an arrangement form in which while arranging the remotely operated scissors in the cavity, a plurality of external electromagnets with one magnetic pole facing inward are inserted and arranged at appropriate positions in the body cavity from outside the body can be cited. In these arrangement forms, by exciting one or a plurality of appropriate external electromagnets to generate an N pole or an S pole inward respectively, changing the pattern of the external magnetic field generated around the permanent magnet body, and moving or stopping the pair of permanent magnet bodies of the remotely operated scissors arranged in the cavity to respective desired positions, the pair of driven parts are separated Moving and moved closer, and the pair of working parts are opened and closed. Further, in addition to changing the strength of the magnetic field generated by the external electromagnets arranged outside the body or inserted and arranged in the body cavity from outside the body by increasing or decreasing the current flowing through these external electromagnets, the position of the external electromagnets can be moved to change the magnetic force received by the permanent magnet body, and the pair of permanent magnet bodies of the remotely operated scissors arranged in the cavity can also be moved or stopped to respective desired positions.

Brief Description of the Drawings

[0037]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Modes for Carrying Out the Invention

[0038] (Embodiment 1 and Modified Form) Hereinafter, Embodiment 1 and a modified form of the present invention will be described with reference to the drawings. FIGS. 1 shows the schematic configurations of opening / closing control systems (hereinafter simply referred to as systems) 100 and 200 for remotely operated scissor tools 10 and 210 according to Embodiment 1 and the modified form of the present invention. FIG. 2 shows the form of an external magnetic field generation device 53 that remotely operates the remotely operated scissor tools 10 and 210 inside the human body BD in the systems 100 and 200. FIG. 3 shows the form of the remotely operated scissor tool 10 according to Embodiment 1. FIG. 4 shows the form of the remotely operated scissor tool 210 according to the modified form. The systems 100 and 200 shown in FIGS. 1 and 2 include remotely operated scissor tools 10 and 210 and an opening / closing control device 50 that controls them.

[0039] First, the remote - controlled surgical scissors 10 used in the system 100 according to Embodiment 1 will be described. As shown in FIG. 3, the remote - controlled surgical scissors 10 includes a surgical scissors (hereinafter, also simply referred to as scissors) 20 and a pair of permanent magnets 30 attached to the scissors 20. By moving the permanent magnets 30 with an external magnetic field OMF described later, the scissors 20 can be remotely operated.

[0040] Among them, the scissors 20 according to Embodiment 1 specifically includes a first member 20A having a first blade body portion 21A and a first driven portion 23A, and a second member 20B having a second blade body portion 21B and a second driven portion 23B. They are combined in an X - shape at a fulcrum portion 22 to form a Roman - type scissor. The first blade body portion 21A and the second blade body portion 21B are a pair of blade body portions 21 that can maintain a state where their blade portions 21AB and 21BB are joined so as to be able to perform an opening - and - closing movement OCV (opening movement OV and closing movement CV, see FIG. 3) for shearing an object such as a diseased - part tissue or a thread. Also, the first driven portion 23A and the second driven portion 23B form a pair of driven portions 23 configured such that by moving away from and approaching each other (separation movement DMV and approach movement AMV, see FIG. 3), the pair of blade body portions 21 can be moved in an opening - and - closing movement OCV. The pair of driven portions 23 (the first driven portion 23A and the second driven portion 23B) are respectively attached with the aforementioned permanent magnets 30 (the first permanent magnet 30A and the second permanent magnet 30B).

[0041] In the scissors tool 20 of the first embodiment, including the pair of driven parts 23 (the first driven part 23A and the second driven part 23B), the first member 20A, the second member 20B, and the fulcrum part 22 are all made of austenitic stainless steel (specifically, SUS304) that is not attached to (not attracted by) a magnet. In the first embodiment, not only the pair of driven parts 23 but also the entire scissors tool 20 is made of SUS304. However, at least the pair of driven parts 23 to which the permanent magnet bodies 30 are attached should be made of a material that does not become a magnet itself due to the attachment of the permanent magnet bodies 30, that is, a non-magnetic material (paramagnetic body, diamagnetic body), and more preferably, the entire scissors tool 20 is made of a non-magnetic material. As the non-magnetic material, for example, non-magnetic metals such as aluminum, copper, zinc, and austenitic stainless steel, non-magnetic ceramics such as alumina (aluminum oxide) and silicon nitride, non-magnetic resins such as PTFE, polyethylene, PET, and vinyl chloride, and carbon fiber can be used. The same applies to the scissors tool 220 in the modified form described later.

[0042] The pair of permanent magnet bodies 30 (the first permanent magnet body 30A and the second permanent magnet body 30B) are in a form that can be respectively attached to the pair of driven parts 23 (the first driven part 23A and the second driven part 23B). In the first embodiment, the permanent magnet body 30 has a substantially rectangular parallelepiped shape that is long in the vertical direction in which the driven part 23 extends in FIG. 3 and is magnetized in the thickness direction (the left-right direction in FIG. 3). As shown in FIG. 3, the pair of permanent magnet bodies 30 are respectively attached by being fixed to the outside of the first driven part 23A and the second driven part 23B with an adhesive (not shown), and are attached so that the inner side is the N pole and the outer side is the S pole. This permanent magnet body 30 moves (moves in the left-right direction in FIG. 3) by the magnetic force MF received from the external magnetic field OMF generated around the permanent magnet bodies 30A and 30B themselves by the opening / closing control device 50 described later, thereby causing the pair of driven parts 23 to which this permanent magnet body 30 is attached to move away from and approach each other (movement MV). As a result, the pair of blade parts 21 (the first blade part 21A and the second blade part 21B) of the scissors tool 20 can be opened and closed (movement OCV).

[0043] Next, the remotely operated scissors 210 used in the system 200 according to the modified form will be described. As shown in FIG. 4, the remotely operated scissors 210 includes scissors 220 and a pair of permanent magnets 230 attached to the scissors 220. Similar to the remotely operated scissors 10 of Embodiment 1, the scissors 220 can be remotely operated by moving the permanent magnets 230 with an external magnetic field OMF described later.

[0044] Among these, the scissors 220 according to this modified form is specifically a Roman-type scissor formed by combining a first member 220A having a first clamping portion 221A and a first driven portion 223A and a second member 220B having a second clamping portion 221B and a second driven portion 223B in an X shape at a fulcrum portion 222. The first clamping portion 221A and the second clamping portion 221B are a pair of clamping portions 221 that can perform an opening and closing movement OCV (opening movement OV and closing movement CV, see FIG. 4) of approaching each other to clamp an object such as a diseased tissue or a thread existing therebetween, pulling the clamped object, or pushing and expanding the object with the first clamping portion 221A and the second clamping portion 221B. Further, the first driven portion 223A and the second driven portion 223B form a pair of driven portions 223 configured to be able to open and close the pair of clamping portions 221 by moving away from and approaching each other (separating movement DMV and approaching movement AMV, see FIG. 4). The aforementioned permanent magnets 230 (first permanent magnet 230A, second permanent magnet 230B) are attached to the pair of driven portions 223 (first driven portion 223A, second driven portion 223B), respectively.

[0045] In this modified form of the scissors 220, including the pair of driven portions 223, the first member 220A, the second member 220B, and the fulcrum portion 222 are all made of austenitic stainless steel (specifically SUS304) that is not attracted to a magnet. In this modified form as well, the entire scissors 220 is made of SUS304.

[0046] Next, a pair of permanent magnets 230 (the first permanent magnet 230A and the second permanent magnet 230B) will be described. In the remote control scissors 10 of the first embodiment, a pair of permanent magnets 30 were respectively fixed and attached to a pair of driven parts 23. On the other hand, in the remote control scissors 210 of this modified form, among a pair of driven parts 223 (the first driven part 223A and the second driven part 223B), permanent magnets 230 are detachably attached to the proximal end sides (lower sides in FIG. 4) of the proximal end parts 223AK and 223BK, respectively.

[0047] That is, in this modified form, both the first permanent magnet 230A and the second permanent magnet 230B are each composed of a cylindrical sleeve 230AS, 230BS made of SUS304 and a permanent magnet 230AM, 230BM caulked and fixed thereto. Then, as shown in FIG. 4, by inserting the proximal end parts 223AK, 223BK of the driven part 223 into the sleeves 230AS, 230BS, the first permanent magnet 230A can be attached to the first driven part 223A and the second permanent magnet 230B can be attached to the second driven part 223B. By doing so, when cleaning or sterilizing the remote control scissors 10, etc., the pair of permanent magnets 230 and the scissors 220 can be separated and appropriate processing can be performed on each, resulting in advantages such as the replaceability of the permanent magnets 230.

[0048] Note that the same permanent magnets as those used as the permanent magnets 30 in the first embodiment can be used for the permanent magnets 230AM, 230BM used for the permanent magnet 230 in this modified form. For example, they can be attached to the sleeves 230AS, 230BS such that the inner side is the N pole and the outer side is the S pole. This permanent magnet 230 also moves (moves in the left - right direction in FIG. 4) by the magnetic force MF received from the external magnetic field OMF generated around the permanent magnets 230AM, 230BM themselves by the opening - closing control device 50 described below, thereby moving the pair of driven parts 223 to which this permanent magnet 230 is attached closer and farther apart (movement MV). Thereby, the pair of clamping parts 221 (the first clamping part 221A and the second clamping part 221B) of the scissors 220 can be opened and closed (movement OCV).

[0049] Next, among the systems 100 and 200 of the first embodiment and the modified forms, the opening / closing control device 50 (see FIGS. 1 and 2) will be described. This opening / closing control device 50 (see FIGS. 1 and 2) is a device that remotely controls the movement of a pair of permanent magnets 30, and thus the opening / closing movement of a pair of blade portions 21 of the scissor-like tool 20, and includes a power supply control device 51, a drive power supply 52, and an external magnetic field generation device 53. Among these, the external magnetic field generation device 53 includes a plurality (60 in the first embodiment = 12 × 5 stages) of external electromagnets 53A, a common yoke 53B, and a housing 53C that houses them.

[0050] Among these, the plurality of external electromagnets 53A are all of the same shape in the first embodiment, and each includes a yoke (core) 53A1 made of a cylindrical soft magnetic material and formed of a massive steel material (cast steel) with high magnetic permeability, and a coil 53A2 wound around the periphery of the yoke 53A1. Both ends of this coil 53A2 extend as a first terminal 53A2a and a second terminal 53A2b to the outer peripheral wall 53C2 of the housing 53C of the housing 53C, and are connected to the drive power supply 52 through a connection wiring 54.

[0051] By flowing an electromagnet current IM(n) (n is an ordinal number, and in this embodiment, n is from the first to the 60th) from the drive power supply 52 to the coils 53A2 of the plurality of external electromagnets 53A respectively, an external magnetic field OMF is formed around these external electromagnets 53A. In the first embodiment, 12 external electromagnets 53A arranged so that the inner end face 53A1i of the yoke 53A1 faces inward are arranged radially and equidistantly from each other, and are arranged in a cylindrical laminated form over five stages (see FIGS. 1 and 2). Thereby, an external magnetic field OMF used to hold or move the permanent magnet 30 of the remotely operated scissor-like tool 10 can be generated inside the 60 external electromagnets 53A. And by appropriately changing the magnitude and direction (positive / negative) of the electromagnet current IM(n) flowing through each of the 60 external electromagnets 53A, the pattern of the generated external magnetic field OMF and the magnetic field strength in each part can be changed.

[0052] Furthermore, the external magnetic field generating device 53 also has an annular common yoke 53B made of a massive steel material with high magnetic permeability made of a soft magnetic material (see Fig. 1). This common yoke 53B is arranged such that its inner peripheral surface 53Bi is in close contact with the outer end surface 53A1o of the yoke 53A1 of each of the radially arranged external electromagnets 53A, and magnetic field lines (not shown) passing through the outer end surface 53A1o also pass through the annular common yoke 53B. This makes it difficult for magnetic field lines to leak outside the annular common yoke 53B, suppressing the influence on external devices and the like caused by the leaked magnetic field lines and the influence on the external magnetic field OMF caused by external devices and the like.

[0053] Note that, according to the range and strength of the external magnetic field OMF to be generated, etc., it is advisable to determine the size of the external electromagnet 53A, the form of the yoke 53A1, the number and arrangement of the external electromagnets 53A, and the form and arrangement of the common yoke 53B. Also, in the first embodiment, each yoke 53A1 and the common yoke 53B are formed separately, but they may be integrally formed, and a coil 53A2 may be wound around the yoke portion to form a plurality of external electromagnets 53A.

[0054] Furthermore, the housing 53C has a cylindrical (doughnut-shaped) form with a cavity inside the inner peripheral wall 53C1 of the housing, and houses a plurality of external electromagnets 53A and the common yoke 53B inside. Specifically, while the inner end surface 53A1i of the yoke 53A1 is arranged in contact with the inner peripheral wall 53C1 of the housing, as described above, the first terminal 53A2a and the second terminal 53A2b of the coil 53A2 extend from the outer peripheral wall 53C2 of the housing.

[0055] A drive power source 52 is connected to the first terminal 53A2a and the second terminal 53A2b of the coil 53A2 through connection wiring 54. This drive power source 52 is a power source capable of flowing a direct current of an appropriate magnitude, positive or negative, as an electromagnet current IM(n) (for example, IM(1), …, IM(11) …) through the coil 53A2 of each external electromagnet 53A through the connection wiring 54.

[0056] Inside the inner peripheral wall 53C1 of the housing 53C, as shown in FIGS. 1 and 2, for example, the human body BD, which is an object OJ placed on the bed EE, is inserted. It is assumed that a remotely operated scissor tool 10 (or a remotely operated scissor tool 210 described later) has been inserted into the cavity VC inside the human body BD (in this example, the abdominal cavity) in advance.

[0057] The power control device 51 is a device that controls the magnitude of the electromagnetic current IM(n) flowing from the drive power source 52 to each external electromagnet 53A. It has a computer and a display (not shown). The computer is equipped with general hardware such as a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory) (not shown). The ROM stores programs such as an OS (Operating System) and an external magnetic field control program, as well as various data. The OS and programs are expanded in the RAM and executed by the CPU. This power control device 51 functions as a surgical field analysis unit 51A, a magnetic field analysis unit 51B, an external magnetic field setting unit 51C, and a current setting unit 51D by executing the external magnetic field control program.

[0058] When remotely operating the remotely operated scissor tool 10 with the opening / closing control device 50, specifically, first, in the surgical field analysis unit 51A, the three-dimensional positions and shapes of each organ of the human body BD and the remotely operated scissor tool 10, etc., in the surgical field, specifically, in the cavity VC of the human body BD or further around it in the first embodiment, are analyzed. In parallel with the remote operation of the remotely operated scissor tool 10, separately, X-ray imaging, CT, MRI, etc. can be performed, and the data DT of these other devices can be used for the analysis in this surgical field analysis unit 51A.

[0059] Next, the magnetic field analysis unit 51B analyzes, from the analysis results of the positions and shapes of the respective organs and the remote operation forceps 10 and 210 obtained by the surgical field analysis unit 51A, the external magnetic field OMF currently generated inside the inner peripheral wall 53C1 of the housing by the external magnetic field generator 53 and the magnetic field of the permanent magnets 30 and 230 of the remote operation forceps 10 and 210, to determine what form (pattern and strength) the combined magnetic field takes.

[0060] Furthermore, separately, the power control device 51 receives an instruction on how to open and close the pair of blade portions 21 of the remote operation forceps 10 (or the pair of clamping portions 221 of the remote operation forceps 210 described later). Then, based on this instruction, it analyzes how to move the pair of permanent magnets 30 and 230 and how to move the pair of driven parts 23 and 223 away from and closer to each other (separation movement DMV or approach movement AMV) to cause the instructed opening and closing movement OCV. Furthermore, in order to realize the obtained separation and approach movement MV of the pair of driven parts 23 and 223, it analyzes how to change the current form of the combined magnetic field and the change pattern of the combined magnetic field.

[0061] Next, the external magnetic field setting unit 51C analyzes how to change the form (pattern and strength) of the external magnetic field OMF generated by the external magnetic field generator 53 to realize the obtained change pattern of the combined magnetic field, and sets the change pattern.

[0062] Furthermore, the current setting unit 51D sets the magnitude and change pattern of the electromagnetic current IM(n) flowing through the coils 53A2 of the respective external electromagnets 53A based on the change pattern of the form of the external magnetic field OMF set by the external magnetic field setting unit 51C.

[0063] Then, based on the set change pattern, this current setting unit 51D controls the electromagnetic current IM(n) flowing from the drive power source 52 to each external electromagnet 53A, changes the form of the external magnetic field OMF generated by the external magnetic field generating device 53, moves the pair of permanent magnet bodies 30 and 230, and moves the pair of driven parts 23 and 223 away from and close to each other by the separation and approach movement MV. Thereby, a desired opening and closing movement OCV can be caused for the pair of blade parts 21 (or the pair of clamping parts 221 of the remote operation scissors 210 described later) of the remote operation scissors 10.

[0064] Thereby, in the remote operation scissors 10 and 210 of the first embodiment and the modified forms described later, a desired opening and closing movement OCV can be performed on the pair of blade parts 21 and the pair of clamping parts 221, and the object OJ shown by the broken line in FIGS. 3 and 4 can be sheared or clamped, or the closed pair of blade parts 21 and the pair of clamping parts 221 can be opened by the opening movement OV.

[0065] Thus, in the systems 100 and 200 including the remote operation scissors 10 and 210 and the opening and closing control device 50 of the first embodiment shown in FIG. 1, etc., the pair of blade parts 21 of the remotely operable remote operation scissors 10, 210 arranged, for example, in the cavity VC of the human body BD can be opened and closed by non-contact remote operation.

[0066] Next, with reference to FIG. 5, the principle of remotely operating the remote operation scissors 10 by the external magnetic field OMF generated by the external electromagnet 53A will be described. For simplicity, it will be described in the case where the remote operation scissors 10 are arranged in the center and there are two external electromagnets 53A respectively facing the permanent magnet body 30. Also, it is assumed that the pair of permanent magnet bodies 30 are mounted such that the outer side is the S pole and the inner side is the N pole. The following description is the same for the remote operation scissors 210 according to the modified form.

[0067] As shown in Fig. 5(a), first, assume that the remote control scissors tool 10 has a pair of blade parts 21 slightly opened. Here, electromagnetic currents IM(n) and IM(n') are respectively passed through the two external electromagnets 53A, and it is assumed that an S pole is generated inside each of the external electromagnets 53A (n' is an ordinal number different from n (n≠n'), and in this embodiment, n and n' are the 1st to 60th). Then, due to the external magnetic field OMF generated by the two external electromagnets 53A, the permanent magnet bodies 30 of the remote control scissors tool 10 receive magnetic forces MF directed inward respectively. This is because the S pole of the external electromagnet 53A repels the S pole on the outside of the permanent magnet body 30. For this reason, the permanent magnet body 30 moves inward, and accordingly, a pair of driven parts 23 to which the permanent magnet body 30 is attached move closer to each other by an approaching movement AMV. Thereby, the pair of blade parts 21 move closer to each other by a closing movement CV.

[0068] However, as the permanent magnet body 30 moves inward, it gets farther away from the S pole generated by each external electromagnet 53A, so the magnetic force MF (repulsive force) received from the external magnetic field OMF decreases, making it difficult for the permanent magnet body 30 to move inward.

[0069] Therefore, as shown in Fig. 5(b), larger electromagnetic currents IM(n) and IM(n') (indicated by two arrows) are respectively passed through the two external electromagnets 53A, and for each of the external electromagnets 53A, a stronger S pole (indicated by SS) is generated inside. Then, from the generated external magnetic field OMF, the permanent magnet bodies 30 of the remote control scissors tool 10 receive stronger magnetic forces MF directed inward respectively. For this reason, the permanent magnet body 30 can be moved further inward, and accordingly, a pair of driven parts 23 to which the permanent magnet body 30 is attached can also be moved closer by a further approaching movement AMV. Thereby, the pair of blade parts 21 can also be moved closer by a large amount (indicated by two arrows) by a closing movement CV, and as shown in Fig. 5(b), the pair of blade parts 21 can be brought into a substantially closed state.

[0070] Thereafter, as shown in FIG. 5(c), large electromagnetic currents IM(n), IM(n’) in the opposite direction to that in FIG. 5(b) (indicated by two arrows) are respectively passed through the two external electromagnets 53A, and for each of the external electromagnets 53A, a strong N pole (indicated by NN) is generated on the inner side. Then, from the generated external magnetic field OMF, the permanent magnet bodies 30 of the remotely operated scissors tool 10 each receive a strong magnetic force MF directed outward. This is because the S pole on the outer side of the permanent magnet body 30 is attracted to the N pole of the external electromagnet 53A. For this reason, contrary to FIG. 5(b), the permanent magnet bodies 30 can be moved outward, and accordingly, the pair of driven parts 23 to which the permanent magnet bodies 30 are attached can also be moved apart by a distance DMV. Thereby, the pair of blade parts 21 can also be moved open by an opening movement OV, and the pair of blade parts 21 can be gradually opened.

[0071] However, as the permanent magnet bodies 30 move outward, they get closer to the N poles generated by the respective external electromagnets 53A, so the magnetic force MF (attractive force) received from the external magnetic field OMF increases. For this reason, the easier it is for the permanent magnet bodies 30 to move outward, the greater the risk that the pair of blade parts 21 will open too much.

[0072] Therefore, as shown in FIG. 5(d), electromagnetic currents IM(n), IM(n’) less than those in FIG. 5(c) (indicated by one arrow) are respectively passed through the two external electromagnets 53A, and for each of the external electromagnets 53A, a relatively weak N pole (indicated by N) is generated on the inner side. Thereby, the permanent magnet bodies 30 of the remotely operated scissors tool 10 receive a relatively weak magnetic force MF directed outward from the external magnetic field OMF. For this reason, the permanent magnet bodies 30 can be gradually moved outward, and accordingly, the pair of driven parts 23 to which the permanent magnet bodies 30 are attached can be further moved apart by a distance DMV. Thereby, the pair of blade parts 21 can also be moved open greatly (indicated by two arrows) by an opening movement OV, and as shown in FIG. 5(d), the pair of blade parts 21 can be set in a greatly opened state.

[0073] When the opening degree of the pair of blade bodies 21 reaches a desired size, by setting the electromagnetic currents IM(n) and IM(n’) of the electromagnets to zero, it is possible to stop the movement of the pair of permanent magnets 30, the separation / approach movement MV of the pair of driven parts 23, and the opening / closing movement OCV of the pair of blade bodies 21.

[0074] In the above description, an example was shown in which the electromagnetic currents IM(n) and IM(n’) flowing through the two external electromagnets 53A were changed in the same manner. However, in order to generate an appropriate external magnetic field OMF according to the position and orientation of the remotely operated scissors tool 10, the opening degree of the pair of blade bodies 21, the desired operation, etc., the electromagnetic currents IM(n) and IM(n’) flowing through the two external electromagnets 53A can be changed separately.

[0075] As can be easily understood, even in the external magnetic field generator 53 using a large number of external electromagnets 53A as shown in FIGS. 1 and 2, in order to generate an appropriate external magnetic field OMF according to the position and orientation of the remotely operated scissors tool 10, the opening degree of the pair of blade bodies 21, the desired operation, etc., in the current setting unit 51D of the power supply control device 51 described above, the electromagnetic current IM(n) flowing through each external electromagnet 53A is appropriately set.

[0076] In the systems 100 and 200 of Embodiment 1 and the modified forms, an example was shown in which the remotely operated scissors tools 10 and 210 arranged in the cavity VC, which is the body cavity VCB of the human body BD, are remotely operated by an opening / closing control device 50 having a cylindrical external magnetic field generator 53 surrounding the outside OBD of the human body BD (see FIGS. 1 and 2).

[0077] And in this Embodiment 1 etc., an external magnetic field generator in which the position and orientation of the external electromagnet are fixed and cannot be changed, specifically, an external magnetic field generator 53 using a large number of external electromagnets 53A in which the yoke 53A1 is fixed to a cylindrical common yoke 53B and the inner end face 53A1i of the yoke 53A1 is oriented radially inward was exemplified. It is also possible to use an external magnetic field generator in which the position and orientation of some or all of the plurality of external electromagnets can be changed.

[0078] (Embodiment 2) In Embodiment 1 and the like, an external magnetic field generator 53 with the position of the external electromagnet 53A fixed in advance was used. However, for example, a plurality of magnet inserts with external electromagnets attached to the tip of the support member are prepared, and the external electromagnets are respectively arranged at appropriate positions outside or inside the human body BD (inside the cavity) in consideration of the form, size, and position of the remote control scissors to be remotely operated, the size of the cavity VC to be arranged, etc. The remote control scissors 310 may be remotely controlled using these external electromagnets. The opening / closing control system 300 of the remote control scissors 310 according to the second embodiment will be described with reference to FIGS. 6 to 8. However, the description will focus on the parts different from Embodiment 1 and the like, and the description of the same parts will be omitted or simplified.

[0079] The remote control scissors 310 (see FIG. 3) used in the system 300 of the second embodiment are different from the remote control scissors 10 used in the first embodiment in that they are smaller in size, but are made of the same material and have the same shape. Therefore, the description of the remote control scissors 310 will be omitted. Similar to the remote control scissors 10 of the first embodiment, the remote control scissors 310 can also remotely control the scissors 320 by moving the permanent magnet body 330 with an external magnetic field OMF described later. However, in the second embodiment, the remote control scissors 310 will be described as being arranged in the inner cavity VCO of the luminal organ OR in the body cavity VCB of the human body BD (see FIG. 6).

[0080] Next, the opening / closing control device 350 (see FIG. 6) in the system 300 of the third embodiment will be described. This opening / closing control device 350 is a device that remotely controls the movement of a pair of permanent magnet bodies 330 of the remote control scissors 310, and thus remotely controls the opening / closing movement of a pair of blade portions 321 of the scissors 320, and includes a power supply control device 351, a drive power supply 352, and an external magnetic field generator 353.

[0081] The external magnetic field generator 353 includes, as external electromagnets 353A, a plurality of external external electromagnets 353AK arranged outside the body OBD (only 3 are shown in FIG. 6), and a plurality of movable external electromagnets 353AM provided on the magnet insert 359 and arranged in the body cavity VCB (only 4 are shown in FIG. 6).

[0082] Among these, each extracorporeal external electromagnet 353AK (see FIGS. 6 and 8) consists of a straight bar-shaped yoke 353AK1 and a coil 353AK2 wound around it. All of them are embedded and arranged in a bed EE which is the extracorporeal OBD of the human body BD. The first terminal 353AK2a and the second terminal 353AK2b of the coil 353AK2 are respectively connected to a drive power source 352. Each extracorporeal external electromagnet 353AK generates an external magnetic field OMF in the body cavity VCB through the human body BD lying supine on the bed EE.

[0083] In FIG. 6, only 3 extracorporeal external electromagnets 353AK are shown, but it is better to embed and arrange a larger number of extracorporeal external electromagnets 353AK in the bed EE (for example, in a grid pattern with a predetermined interval in the longitudinal direction of the bed EE (the direction perpendicular to the paper surface in FIG. 6)). Also, not only the bed EE, but also in the region of the extracorporeal OBD of the human body BD where there is no hindrance to the installation and operation of the following-described magnet inserter 359, one or more extracorporeal external electromagnets 353AK may be arranged. Alternatively, among the external magnetic field generating devices 53 (see FIGS. 1 and 2) of Embodiment 1, it may be in a substantially semi-cylindrical form with the upper part open and only using about the lower half, and use an extracorporeal external electromagnet 353AK instead of the external electromagnet 53A.

[0084] On the other hand, a magnet inserter 359 having a movable external electromagnet 353AM (see FIGS. 6 and 7) includes a straight tubular support member 355, a movable external electromagnet 353AM supported in a cantilevered manner at its tip 355S, a cylindrical port 6 inserted and fixed into a port installation hole PH drilled in the human body BD, a position change actuator 357 fixed to this port 356, gripping the periphery of the tubular support member 355 and moving this tubular support member 355, and a posture change actuator 358 provided around the tip 355S of the tubular support member 355, moving the tip 355S and the movable external electromagnet 353AM supported thereon in a pendulum-like manner to change their postures.

[0085] Among these, the movable external electromagnet 353AM (see FIGS. 6 and 7) consists of a straight bar-shaped yoke 353AM1 and a coil 353AM2 wound around it. The first terminal 353AM2a and the second terminal 353AM2b of the coil 353AM2 extend through the rear end portion 355K of the tubular support member 355. These terminals 353AK2a and 353AK2b are also connected to the drive power source 352 respectively. As shown in FIG. 6, this movable external electromagnet 353AM is inserted into the body cavity VCB of the human body BD to generate an external magnetic field OMF in this body cavity VCB. Note that, as shown in FIG. 7, the magnet inserter 359 of the second embodiment has a basic posture in which the axis of the movable external electromagnet 353AM (yoke 353AM1) coincides with the axis of the tubular support member 355.

[0086] The position changing actuator 357 can grip the periphery of the tubular support member 355 and move (advance and retreat) this tubular support member 355 in its axial direction. In addition, within the range allowed by the gap between the port 356 and the tubular support member 355, it is configured to be able to move the tubular support member 355 so as to tilt it with respect to the port 356. Thereby, the position of the tip portion 355S of the tubular support member 355 and the movable external electromagnet 353AM supported by this tip portion 355S can be moved three-dimensionally as shown by the three double-headed arrows orthogonal to each other in FIG. 6. Note that the control of the positions of the tip portion 355S of the tubular support member 355 and the movable external electromagnet 353AM by the position changing actuator 357 is performed by the position control portion 351C1 of the external magnetic field setting portion 351C.

[0087] In addition, the posture changing actuator 358 grips around the tip portion 355S of the tubular support member 355 and bends this tip portion 355S, thereby making it possible to change the posture of the tip portion 355S and the movable external electromagnet 353AM supported by this tip portion 355S (specifically, the axial direction of the movable external electromagnet 353AM (yoke 353AM1)) in a head shaking manner around the posture changing actuator 358. That is, yawing (lateral deflection angle) and pitching (vertical (rolling) deflection angle) can also be changed. The control of the postures of the tip portion 355S of the tubular support member 355 and the movable external electromagnet 353AM by this posture changing actuator 358 is performed by the posture control unit 351C2 of the external magnetic field setting unit 351C.

[0088] Since each part 351A - 351D of the power supply control device 351 is substantially the same as each part 51A - 51D of the power supply control device 51 of Embodiment 1, the description thereof is omitted. However, as described above, the external magnetic field setting unit 351C includes a position control unit 351C1 that controls the positions of the tip portion 355S of the tubular support member 355 and the movable external electromagnet 353AM, and a posture control unit 351C2 that controls the postures of the movable external electromagnet 353AM and the like. Therefore, in order to realize the change pattern of the obtained composite magnetic field in consideration of the changes in the positions and postures of the tip portion 355S of the tubular support member 355 and the movable external electromagnet 353AM, the external magnetic field setting unit 351C analyzes how to change the form (pattern and strength) of the external magnetic field OMF generated by the external magnetic field generating device 53, and sets the change pattern. Further, if necessary, in the surgical field analysis unit 51A and the magnetic field analysis unit 51B, the changes in the positions and postures of the tip portion 355S of the tubular support member 355 and the movable external electromagnet 353AM are fed back for analysis, and the results are reflected in the control of the positions and postures in the position control unit 351C1 and the posture control unit 351C2, and the setting of the change pattern of the external magnetic field OMF in the external magnetic field setting unit 351C. Also, in the current setting unit 351D, based on the change pattern of the form of the external magnetic field OMF set by the external magnetic field setting unit 351C, the magnitude and change pattern of the electromagnetic current IM(n) flowing through each coil 53A2 of each external electromagnet 53A are set.

[0089] Even in the opening / closing control device 50 of the second embodiment, by flowing the electromagnetic current IM(n) from the drive power source 352 to the coils 353AK2 and 353AM2 of each of the external electromagnets 353A (a plurality of external external electromagnets 353AK and a plurality of movable external electromagnets 353AM), an external magnetic field OMF can be generated around these external electromagnets 353A (inside the body cavity VCB of the human body BD, the luminal organ OR, and the cavity VC which is the inner cavity of the luminal organ OR) and used to hold or move the permanent magnet body 330 of the remote operation scissors 310. Then, by appropriately changing the magnitude and direction (positive / negative) of the electromagnetic current IM(n) flowing through each external electromagnet 353A, and further, the position and posture of each movable external electromagnet 353AM, the pattern of the generated external magnetic field OMF and the magnetic field strength at each part can be changed.

[0090] As a result, even in the remote operation scissors 310 of the second embodiment, the pair of blade parts 321 can be made to perform a desired opening / closing movement OCV, cut an object OJ shown by a broken line in FIG. 3, or open the closed pair of blade parts 321 by an opening movement OV.

[0091] In this way, in the system 300 including the remote operation scissors 310 and the opening / closing control device 350 of the second embodiment shown in FIG. 6, the pair of blade parts 321 of the remote operation scissors 310 arranged, for example, in the cavity VC inside the luminal organ OR can be opened / closed by a non-contact remote operation.

[0092] As described above, the present invention has been described in accordance with the first and second embodiments and the modified forms. Needless to say, the present invention is not limited to the embodiments and the like, and can be appropriately modified and applied without departing from the gist thereof. For example, in the remote operation scissors 10, 210, and 310 of the first and second embodiments and the modified forms, as the scissors 20, 220, and 320, an example using a Roman type surgical scissors (see FIGS. 3 and 4) has been shown. However, it is also possible to use a remote operation scissors in which a permanent magnet body is attached to a Greek type surgical scissors.

[0093] In addition, in the remotely operated scissors 10 (see FIG. 3) of Embodiment 1, an example was shown in which one first permanent magnet body 30A was attached to the first driven part 23A and one second permanent magnet body 30B was attached to the second driven part 23B. However, in FIG. 3, as shown by the dashed line, two first permanent magnet bodies 30A and 30Ap may be attached to the first driven part 23A, and two second permanent magnet bodies 30B and 30Bp may be attached to the second driven part 23B. In this case, the first permanent magnet body 30Ap and the second permanent magnet body 30Bp can be attached (fixed) so that the outer side is the S pole and the inner side is the N pole, similar to the first permanent magnet body 30A and the second permanent magnet body 30B. In this case, as described with reference to FIG. 5, the magnetic force MF received by the pair of permanent magnet bodies 30 from the external magnetic field OMF can be increased. On the other hand, the first permanent magnet body 30Ap and the second permanent magnet body 30Bp can also be attached (fixed) so that the outer side is the N pole and the inner side is the S pole, contrary to the first permanent magnet body 30A and the second permanent magnet body 30B. In this case, finer movement control can be performed by further finely changing the pattern of the external magnetic field OMF. This modification can be similarly applied to the remotely operated scissors 210 and 310 (see FIGS. 3 and 4).

Explanation of Signs

[0094] 100, 200, 300 System (opening / closing control system for remotely operated scissors) 10, 210, 310 Remotely operated scissors (remotely operable remotely operated scissors) 20, 220, 320 Scissors (surgical scissors) 21, 321 Pair of blade parts (pair of acting parts) 23, 223, 323 Pair of driven parts MV Separation / approach movement of (pair of driven parts) OCV Opening / closing movement of (pair of blade parts, clamping part) 30, 230, 330 Permanent magnet body 50, 350 Opening / closing control device (opening / closing control device for remotely operated scissors) 51, 351 Power control device (magnet movement control part) 52,352 Drive power supply 53,353 External magnetic field generating device 53A,353A,353AK,353AM External electromagnet 353AK External electromagnet outside the body 353AM Movable external electromagnet IM(n),IM(n’),IM(1),IM(11) Electromagnet current (flowing through the external electromagnet) 53C Housing 355 Tubular support member (support member) for supporting the movable external electromagnet 355S Tip of the tubular support member 355K Base end of the tubular support member 357 Position changing actuator 358 Posture changing actuator 359 Magnet inserter OJ Object BD Human body (object) OBD Outside the body VC Cavity VCB Body cavity VCO Inner cavity of the tubular organ OMF External magnetic field (generated by the opening / closing control device) MF Magnetic force (received from the external magnetic field)

Claims

1. A pair of acting parts that act on an object by opening movement and closing movement, and A pair of driven parts that move the pair of acting parts by the separating movement that separates from each other and the approaching movement that approaches each other, causing the pair of acting parts to perform the opening movement and the closing movement. Surgical scissors, and Permanently mounted on the pair of driven parts of the surgical scissors respectively, A permanent magnet that receives the magnetic force of an external magnetic field and moves the pair of driven parts by the separating movement and the approaching movement. A remotely operable surgical scissors, The external magnetic field is an external magnetic field that applies the magnetic force to the permanent magnet from outside the remotely operable surgical scissors. A remotely operable surgical scissors.

2. At least the pair of driven parts are made of a non-magnetic material. The remotely operable surgical scissors according to Claim 1.

3. Arranged in a cavity that is the lumen of a body cavity or a luminal organ, In the remotely operable surgical scissors according to Claim 1, controlling the separating movement and the approaching movement of the pair of driven parts remotely. An opening / closing control device for remotely operable surgical scissors, A plurality of external electromagnets arranged around the permanent magnet of the remotely operable surgical scissors to generate the external magnetic field, A driving power source that supplies an electromagnetic current to the plurality of external electromagnets, A magnet movement control unit that controls the electromagnetic current flowing through the driving power source respectively to control the generated external magnetic field and control the movement of the permanent magnet of the remotely operable surgical scissors. An opening / closing control device for remotely operable surgical scissors.

4. The opening / closing control device for remotely operable surgical scissors according to Claim 3, At least any one of the plurality of external electromagnets is arranged outside the body. Opening / closing control device for remotely operated scissors

5. The opening / closing control device for remotely operated scissors according to claim 4, wherein any of the plurality of external electromagnets is arranged outside the body Opening / closing control device for remotely operated scissors

6. The opening / closing control device for remotely operated scissors according to claim 3, said external electromagnet, said external electromagnet is supported at the tip, and a pair of terminals of said external electromagnet are extended from the rear end supporting member, and having, the tip of said supporting member and said external electromagnet are positioned in the body cavity, and the rear end of said supporting member is positioned outside the body, a pair of terminals can be connected to the drive power source including a magnet inserter Opening / closing control device for remotely operated scissors

7. The opening / closing control device for remotely operated scissors according to claim 6, wherein said magnet inserter, is supported at the tip of said supporting member and has a position changing actuator for changing the position of said external electromagnet positioned in the body cavity, said magnet movement control unit, has a position control unit for driving said position changing actuator to control the position of said external electromagnet Opening / closing control device for remotely operated scissors

8. The opening / closing control device for remotely operated scissors according to claim 6 or claim 7, wherein said magnet inserter, is supported at the tip of said supporting member and has an attitude changing actuator for changing the attitude of said external electromagnet positioned in the body cavity, said magnet movement control unit, having a posture control unit that drives the posture change actuator to control the posture of the external electromagnet An opening / closing control device for remotely operated scissors.

9. disposed in a cavity that is the lumen of a body cavity or a luminal organ the remotely operable remotely operated scissors according to claim 1, and an opening / closing control device that remotely controls the separation movement and the approaching movement of the pair of driven parts in the remotely operated scissors. An opening / closing control system for remotely operated scissors, wherein the opening / closing control device a plurality of external electromagnets disposed around the permanent magnet body of the remotely operated scissors to generate the external magnetic field; a drive power source that supplies an electromagnetic current to the plurality of external electromagnets; and a magnet movement control unit that controls the electromagnetic current flowing through the drive power source to control the generated external magnetic field and control the movement of the permanent magnet body of the remotely operated scissors. An opening / closing control system for remotely operated scissors.

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