Surgical instruments and surgical robots

Abstract

To provide a surgical instrument capable of reliably closing a clip by the surgical instrument attached to a robot arm.SOLUTION: A surgical instrument comprises a base body 410 to be attached to an arm 60, a shaft 420 whose one end is connected to the base body 410, and a pair of jaw members 431 provided at the other end of the shaft 420 and rotationally turning around a rotational axis A2 to open and close. The pair of jaw members 431 include groove-shaped recesses 4311 for holding a clip 200, provided on surfaces thereof facing each other. Each of the recesses 4311 of the jaw members 431 includes a first portion 431a provided on a tip side of the jaw member 431 and having a first depth D1, and a second portion 431b provided on the rotational axis A2 side of the jaw member 431 with respect to the first portion 431a and having a second depth D2 larger than the first depth D1.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a surgical instrument and a surgical support robot. [Background technology]

[0002] Conventionally, surgical instruments that can be attached to a robot arm are known. For example, Patent Document 1 discloses a surgical instrument that includes a base body that can be attached to the robot arm, a shaft having one end connected to the base body, and a pair of jaw members that are attached to the other end of the shaft and rotate around a rotation axis to open and close. In this surgical instrument, groove-shaped recesses of uniform depth are formed on the opposing surfaces of the pair of jaw members to hold a clip. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 6,206,903 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, in the surgical instrument of Patent Document 1, groove-shaped recesses of uniform depth are provided on the opposing surfaces of the pair of jaw members to hold a clip. Here, the length of the jaw members of the surgical instrument attached to the robot arm is shortened so as not to impair maneuverability. Therefore, because the jaw members are short, the distance from the rotation axis of the jaw members to the tip ends is short. As a result, when opening and closing the tip ends of the jaw members by a predetermined distance, the opening and closing angle of the jaw members is larger than when the jaw members are long. Therefore, when crushing a clip while closing the jaw members, the angle of the jaw members must be changed significantly. In other words, it is more difficult to close the jaw members at an angle close to parallel than when the jaw members are long. As a result, when crushing a clip held by closing the pair of jaw members, it is difficult to crush the clip parallel from the tip to the bent portion. Therefore, when closing the pair of jaw members while changing the rotation angle significantly, the bent portion of the crushed clip interferes with the jaw members on the rotation axis side of the jaw members when the jaw members are closed to a certain angle. As a result, the pair of jaw members are hindered from closing, making it difficult to close the pair of jaw members further, and as a result, it is difficult to reliably close the clip.

[0005] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a surgical instrument and a surgical support robot that can reliably close a clip using a surgical instrument attached to a robot arm. [Means for solving the problem]

[0006] In order to achieve the above object, a surgical instrument according to a first aspect of the present invention comprises a base body attached to a robot arm, a shaft having one end connected to the base body, and a pair of jaw members provided at the other end of the shaft and rotating about a rotation axis to open and close, wherein groove-shaped recesses for holding clips are provided on opposing surfaces of the pair of jaw members, and the recesses of the jaw members include a first portion provided on the tip side of the jaw members and having a first depth, and a second portion provided closer to the rotation axis of the jaw members than the first portion and having a second depth greater than the first depth. The jaw member recess is formed such that a first portion at an open end of the groove-shaped recess has a first width and a second portion at the open end of the recess has a second width greater than the first width. .

[0007] In the surgical instrument according to the first aspect of the present invention, as described above, the recess of the jaw member includes a first portion located closer to the distal end of the jaw member and having a first depth, and a second portion located closer to the rotation axis of the jaw member than the first portion and having a second depth greater than the first depth. This allows the crushed folded portion of the clip closer to the rotation axis to escape to the second portion, which has a second depth greater than the first depth, when the pair of jaw members are closed to crush the clip, thereby preventing the folded portion of the clip from interfering with further closing of the pair of jaw members. This allows the jaw members to be further closed, allowing the clip to be reliably closed by a surgical instrument attached to a robot arm. Furthermore, the clip can be easily crushed completely by a surgical instrument attached to a robot arm. A surgical instrument according to a second aspect of the present invention comprises a base attached to a robot arm, a shaft having one end connected to the base, and a pair of jaw members attached to the other end of the shaft and rotating about a rotation axis to open and close, wherein groove-shaped recesses for holding a clip are provided on opposing surfaces of the pair of jaw members, and the recesses of the jaw members include a first portion provided on the tip side of the jaw members and having a first depth, and a second portion provided on the rotation axis side of the jaw members relative to the first portion and having a second depth greater than the first depth, and the second portion of the recess has the second depth smaller than the thickness in the depth direction of the recess of the clip before deformation.

[0008] The first aspect of this invention 3 The surgical support robot according to this aspect includes a robot arm and a surgical instrument attached to the robot arm, the surgical instrument including a base attached to the robot arm, a shaft having one end connected to the base, and a pair of jaw members attached to the other end of the shaft and rotating around a rotation axis to open and close, the pair of jaw members having groove-shaped recesses for holding clips on opposing surfaces, the recesses of the jaw members including a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided closer to the rotation axis of the jaw member than the first portion and having a second depth greater than the first depth. The jaw member recess is formed such that a first portion at an open end of the groove-shaped recess has a first width and a second portion at the open end of the recess has a second width greater than the first width. .

[0009] The first aspect of this invention 3 In the surgical support robot according to this aspect, as described above, the recess of the jaw member includes a first portion located toward the distal end of the jaw member and having a first depth, and a second portion located closer to the rotation axis of the jaw member than the first portion and having a second depth greater than the first depth. This allows the crushed folded portion of the clip closer to the rotation axis to escape to the second portion, which has a second depth greater than the first depth, when the pair of jaw members are closed to crush the clip, thereby preventing the folded portion of the clip from interfering with further closing of the pair of jaw members. This allows the jaw members to be further closed, providing a surgical support robot that can reliably close the clip using a surgical instrument attached to the robot arm. Furthermore, the clip can be easily crushed completely using a surgical instrument attached to the robot arm. A surgical support robot according to a fourth aspect of the present invention comprises a robot arm and a surgical instrument attached to the robot arm, the surgical instrument including a base attached to the robot arm, a shaft having one end connected to the base, and a pair of jaw members attached to the other end of the shaft and rotating around a rotation axis to open and close, the pair of jaw members having groove-shaped recesses on their opposing surfaces for holding a clip, the recess of the jaw member including a first portion provided on the tip side of the jaw member and having a first depth, and a second portion provided closer to the rotation axis of the jaw member than the first portion and having a second depth greater than the first depth, the second portion of the recess having a second depth smaller than the thickness in the depth direction of the recess of the clip before deformation. [Effects of the Invention]

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

[0011] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a surgical operation system according to one embodiment. [Figure 2] 1A and 1B are diagrams illustrating a configuration of a medical manipulator according to an embodiment. [Figure 3] 1A and 1B are diagrams illustrating the configuration of a robot arm of a medical manipulator according to one embodiment. [Figure 4] FIG. 1 is a perspective view showing a state in which a surgical instrument is attached to a robot arm via an adapter according to one embodiment. [Figure 5] FIG. 1 is a block diagram showing a control configuration of a surgical operation system according to one embodiment. [Figure 6]FIG. 1 is a perspective view of an end effector of a surgical instrument according to one embodiment. [Figure 7] FIG. 1 is a cross-sectional view of a jaw member of a surgical instrument according to one embodiment. [Figure 8] FIG. 12 is a bottom view of a jaw member of a surgical instrument according to one embodiment. [Figure 9] 1 is a cross-sectional view of a first portion of a jaw member of a surgical instrument according to one embodiment. [Figure 10] FIG. 10 is a cross-sectional view of a second portion of a jaw member of a surgical instrument according to one embodiment. [Figure 11] 1 illustrates a clip according to one embodiment. [Figure 12] 1 is a cross-sectional view of a clip according to one embodiment. [Figure 13] 10A and 10B are diagrams illustrating the operation of crushing a clip by a jaw member of a surgical instrument according to one embodiment. [Figure 14] 10A and 10B are diagrams for explaining the operation of crushing a clip by the jaw members of a surgical instrument according to a comparative example. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described with reference to the accompanying drawings.

[0013] The configuration of a surgical system 100 according to this embodiment will be described with reference to FIGS. 1 to 13. The surgical system 100 includes a medical manipulator 1, which is a patient-side device, and a remote control device 2, which is an operator-side device for operating the medical manipulator 1. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote control device 2 is located at a distance from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely controlled by the remote control device 2. The surgeon inputs commands to the remote control device 2 to cause the medical manipulator 1 to perform a desired operation. The remote control device 2 transmits the input commands to the medical manipulator 1. The medical manipulator 1 operates based on the received commands. The medical manipulator 1 is located in an operating room, which is a sterilized sterile field. The medical manipulator 1 is an example of a "surgery support robot" as defined in the claims.

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

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

[0016] The medical cart 3 is also provided with an input device 33. The input device 33 is configured to receive operations for moving and changing the posture of the positioner 40, the arm base 50, and the multiple arms 60, mainly for preparing for surgery before the procedure.

[0017] The medical manipulator 1 shown in FIGS. 1 and 2 is placed in an operating room. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and multiple arms 60. The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape (long shape). The base of each of the multiple arms 60 is attached to the arm base 50. The multiple arms 60 are configured to be able to assume a folded position (storage position). The arm base 50 and the multiple arms 60 are used covered with a sterile drape. The arm 60 is an example of a "robot arm" as defined in the claims.

[0018] The positioner 40 is configured, for example, by a seven-axis articulated robot. The positioner 40 is placed on the medical cart 3. The positioner 40 moves the arm base 50. Specifically, the positioner 40 is configured to move the position of the arm base 50 in three dimensions.

[0019] The positioner 40 also includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by joint portions 43.

[0020] 1, a surgical tool 4 is attached to the tip of each of the multiple arms 60. The surgical tool 4 includes, for example, replaceable instruments, an endoscope 6, and the like.

[0021] Next, the configuration of the arm 60 will be described in detail.

[0022] As shown in Figure 3, the arm 60 includes an arm section 61 (a base section 62, a link section 63, and a joint section 64) and a translational movement mechanism section 70 provided at the tip of the arm section 61. The arm 60 is configured to move the tip side of the arm 60 three-dimensionally relative to the base side (arm base 50) of the arm 60. The arm 60 has eight degrees of freedom. Note that the multiple arms 60 have similar configurations.

[0023] The translational movement mechanism 70 is provided on the distal end side of the arm 61, and has the surgical instrument 4 attached thereto. The translational movement mechanism 70 translates the surgical instrument 4 in the direction of insertion into the patient P. The translational movement mechanism 70 is configured to translate the surgical instrument 4 relative to the arm 61. Specifically, the translational movement mechanism 70 is provided with a holder 71 that holds the surgical instrument 4. The holder 71 houses a servo motor M2 (see FIG. 5). The servo motor M2 is configured to rotate a rotating body provided on the surgical instrument 4. The rotation of the rotating body of the surgical instrument 4 operates the forceps.

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

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

[0026] The connecting link portion 74 of the translational movement mechanism 70 is configured as a speed-doubling mechanism that moves the distal link portion 73 along the Y direction relative to the proximal link portion 72. The distal link portion 73 is moved along the Y direction relative to the proximal link portion 72, thereby causing the surgical instrument 4 attached to the holder 71 to translate along the Y direction. The distal end of the arm portion 61 is connected to the proximal link portion 72 so as to rotate the proximal link portion 72 about an axis in the X direction perpendicular to the Y direction.

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

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

[0029] As shown in Fig. 4, the surgical instrument 4 includes a base body 410, a shaft 420, and an end effector 430. The base body 410 is attached to an arm 60. Specifically, the base body 410 is attached to the arm 60 via an adapter 500. A driven unit for operating the end effector 430 is provided within the base body 410. The driven unit of the base body 410 is provided with a plurality of rotating bodies. The rotating bodies are rotated by a drive unit provided on the arm 60 via the adapter 500, thereby operating the end effector 430.

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

[0031] 5, the arm 60 is provided with a plurality of servo motors M1, an encoder E1, and a reducer (not shown) so as to correspond to a plurality of joints 64 of the arm section 61. The encoder E1 is configured to detect the rotation angle of the servo motor M1. The reducer is configured to reduce the rotation speed of the servo motor M1 to increase the torque.

[0032] 5, the translational movement mechanism 70 includes a servo motor M2 for rotating a rotor provided in the driven unit of the surgical instrument 4, a servo motor M3 for translating the surgical instrument 4, an encoder E2, an encoder E3, and a reducer (not shown). The encoders E2 and E3 are configured to detect the rotation angles of the servo motors M2 and M3, respectively. The reducers are configured to decelerate the rotation of the servo motors M2 and M3 to increase the torque. The servo motors M1, M2, and M3 are controlled by the arm control unit 31a.

[0033] The positioner 40 is also provided with a plurality of servo motors M4, an encoder E4, and a reducer (not shown) to correspond to the plurality of joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The reducer is configured to reduce the rotation speed of the servo motor M4 to increase the torque.

[0034] The medical cart 3 is also provided with a servomotor M5, an encoder E5, a reducer, and a brake (not shown) that drive each of the multiple front wheels of the medical cart 3. The reducer is configured to reduce the rotation speed of the servomotor M5 and increase the torque. A potentiometer is provided on the operating handle 34 of the medical cart 3, and the servomotor M5 of the front wheels is driven based on the rotation angle detected by the potentiometer in response to the twist of the throttle of the operating handle 34. The rear wheels of the medical cart 3 (not shown) are dual wheels, and are steered based on the left and right rotation of the operating handle 34. The servomotors M4 and M5 are controlled by a positioner control unit 31b.

[0035] 7 and 8, in this embodiment, the surgical instrument 4 is a clip applier in which groove-shaped recesses 4311 for holding clips 200 (see FIG. 9) are provided on the opposing surfaces of a pair of jaw members 431. The groove-shaped recesses 4311 include a first portion 431a that is provided on the distal end side of the jaw members 431 and has a first depth D1, and a second portion 431b that is provided closer to the rotation axis A2 side of the jaw members 431 than the first portion 431a and has a second depth D2 that is greater than the first depth D1.

[0036] As a result, when the pair of jaw members 431 are closed to crush the clip 200, the crushed bent portion 220 of the clip 200 close to the rotation axis A2 can be allowed to escape to the second portion 431b having the second depth D2 greater than the first depth D1, thereby preventing the bent portion 220 of the clip 200 from interfering with further closing of the pair of jaw members 431. As a result, the jaw members 431 can be further closed, so that the clip 200 can be reliably closed by the surgical instrument 4 attached to the arm 60. In addition, the clip 200 can be easily and completely crushed by the surgical instrument 4 attached to the arm 60.

[0037] For example, when the thickness (length C2) of clip 200 is approximately 0.38 mm, first depth D1 is 0.26 mm or more and 0.30 mm or less. Furthermore, second depth D2 is 0.31 mm or more and 0.34 mm or less. When second depth D2 is 0.35 mm or more, bent portion 220 of clip 200 cannot be completely crushed, resulting in an opening in bent portion 220. When second depth D2 is less than 0.30 mm, bent portion 220 cannot be fully released into second portion 431b, resulting in failure of jaw member 431 to close completely. This results in an opening between bent portion 220 and tip portion 210 of clip 200.

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

[0039] Furthermore, the pair of jaw members 431 close while sandwiching a generally U-shaped clip 200 (see FIG. 11) having a bent portion 220 in the center, thereby crushing and deforming the clip 200. The second portion 431b of the recess 4311 is disposed at a position corresponding to the bent portion 220 of the clip 200. This allows the crushed bent portion 220 to be reliably positioned in the second portion 431b, which has the larger second depth D2, when the bent portion 220 of the generally U-shaped clip 200 is crushed.

[0040] Furthermore, recess 4311 of jaw member 431 includes connecting portion 431c whose depth gradually changes from first depth D1 to second depth D2 from first portion 431a to second portion 431b, connecting first portion 431a and second portion 431b. This prevents corners due to steps from being formed at connecting portion 431c between first portion 431a and second portion 431b, thereby preventing clip 200 from being damaged by corners.

[0041] Furthermore, the first portion 431a of the recess 4311 is formed to extend a predetermined length from the tip of the jaw member 431 toward the pivot shaft so that the bent portion 230 of the clip 200 can abut against it. Specifically, as shown in FIG. 7 , the length of the first portion 431a in the direction from the tip toward the pivot shaft (X direction) is length L1. The length L1 is longer than the length C1 from the tip 210 of the clip 200 to the bent portion 230. For example, if the length C1 of the clip 200 is approximately 1.7 mm, the length L1 of the first portion 431a of the jaw member 431 is 2.7 mm, taking into account an attachment error of the clip 200 (e.g., ±0.5 mm). This allows the bent portion 230 of the clip 200 to abut against the first portion 431a, thereby ensuring that the bent portion 230 of the clip 200 is crushed reliably at the first portion 431a having a relatively small first depth D1.

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

[0043] Furthermore, the recess 4311 of the jaw member 431 is formed so that the first portion 431a has a substantially uniform first depth D1 and the second portion 431b has a substantially uniform second depth D2. This allows the tip of the clip 200 to be uniformly crushed by the first portion 431a having the substantially uniform first depth D1. Furthermore, the second portion 431b having the substantially uniform second depth D2 allows the bent portion 220 of the clip 200 to be uniformly crushed.

[0044] 8 to 10, recess 4311 of jaw member 431 is formed so that first portion 431a has a first width W1 at the opening end of recess 4311, and second portion 431b has a second width W2 larger than first width W1 at the opening end of groove-shaped recess 4311. This makes it possible to increase second width W2 and increase the volume of second portion 431b, so that crushed bent portion 220 can be reliably released in second portion 431b.

[0045] 9 and 10, recess 4311 (first portion 431a, second portion 431b) of jaw member 431 has a substantially V-shaped cross section, which allows clip 200, which has a triangular cross section, to be held securely by substantially V-shaped recess 4311.

[0046] Furthermore, the recess 4311 of the jaw member 431 is formed so that the length of the first portion 431a is greater than the length of the second portion 431b in the direction from the tip side of the jaw member 431 toward the rotation axis side (X direction). Specifically, as shown in FIG. 7, the length of the first portion 431a in the direction from the tip side toward the rotation axis side (X direction) is length L1. Furthermore, the length of the second portion 431b in the X direction is length L2. Length L1 is greater than length L2. This allows the clip 200 to be easily and uniformly crushed by the first portion 431a, which has a greater length.

[0047] As shown in FIG. 13(A), clip 200 is set so as to be sandwiched between the pair of jaw members 431 with the pair of jaw members 431 in an open state. Clip 200 is set so that tip portion 210 is located at the tip position of jaw members 431. As shown in FIG. 13(B), when the pair of jaw members 431 are closed, clip 200 held by the pair of jaw members 431 is crushed. As shown in FIG. 13(C), the pair of jaw members 431 are further closed. In this case, the crushed bent portion 220 escapes to the second portion 431b having the larger second depth D2, allowing jaw members 431 to be further closed. Furthermore, clip 200 is crushed and bent from tip portion 210 to bent portion 220.

[0048] On the other hand, in the jaw member 700 according to the comparative example shown in FIG. 14 , unlike the present embodiment, the groove-shaped recess 701 has a substantially uniform depth. That is, the recess 701 of the jaw member 700 has a substantially uniform depth from the tip to the pivot shaft side. As shown in FIG. 14(A), the clip 200 is set so as to be sandwiched between the pair of jaw members 700 with the pair of jaw members 700 in an open state. The clip 200 is set so that the tip portion 210 is located at the tip position of the jaw member 431. As shown in FIG. 14(B), when the pair of jaw members 700 are closed, the clip 200 held by the pair of jaw members 700 is crushed. As shown in FIG. 14(C), when an attempt is made to further close the pair of jaw members 700, the crushed bent portion 220 interferes with the jaw members 700 at the recess 701. This prevents the jaw members 700 from further closing. In this case, a gap is created between the clip 200 around the bent portion 230. As a result, the clip 200 cannot be closed completely.

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

[0050] In this embodiment, as described above, the recess 4311 of the jaw member 431 includes a first portion 431a provided on the distal end side of the jaw member 431 and having a first depth D1, and a second portion 431b provided on the first portion 431a on the rotation axis A2 side of the jaw member 431 and having a second depth D2 greater than the first depth D1. This allows the bent portion 220 of the clip 200 close to the rotation axis A2 to escape to the second portion 431b, which has the second depth D2 greater than the first depth D1, when the pair of jaw members 431 are closed to crush the clip 200. This prevents the bent portion 220 of the clip 200 from interfering with further closing of the pair of jaw members 431. This allows the jaw members 431 to be further closed, allowing the clip 200 to be reliably closed by the surgical instrument 4 attached to the arm 60. Furthermore, the clip 200 can be easily and completely crushed by the surgical instrument 4 attached to the arm 60.

[0051] (Variation) The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims rather than the above description of the embodiments, and further includes all modifications (variations) within the meaning and scope of the claims.

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

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

[0054] In addition, although the above embodiment shows an example in which four arms are provided, the present invention is not limited to this and may have any number of arms as long as there is at least one.

[0055] In the above embodiment, an example was shown in which the arm and the positioner were configured as a seven-axis articulated robot, but the present invention is not limited to this. For example, the arm and the positioner may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot (for example, six axes or eight axes).

[0056] In the above embodiment, the medical manipulator includes a medical cart, a positioner, an arm base, and an arm, but the present invention is not limited to this. For example, the medical cart, the positioner, and the arm base are not necessarily required, and the medical manipulator may be configured with only an arm.

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

[0058] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0059] (Item 1) a base attached to the robot arm; a shaft having one end connected to the base; a pair of jaw members provided at the other end of the shaft and rotating about a rotation axis to open and close, The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips, the recess of the jaw member includes a first portion provided on the distal end side of the jaw member and having a first depth, and a second portion provided on the rotation axis side of the jaw member relative to the first portion and having a second depth greater than the first depth.

[0060] (Item 2) The pair of jaw members sandwich the clip, which has a bent portion in the center and is generally U-shaped, and when they close, they crush and deform the clip, Item 2. The surgical instrument according to item 1, wherein the second portion of the recess is positioned at a position corresponding to the bent portion of the clip.

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

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

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

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

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

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

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

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

[0069] 1. Medical manipulators (surgical support robots) 4 Surgical instruments 60 Arm (Robot Arm) 200 clips 210 Tip 220 Bending section 230 Bend 410 Base 420 shaft 431 Jaw member 431a Part 1 431b Part 2 431c Connection part 4311 Recess

Claims

1. a base attached to the robot arm; a shaft having one end connected to the base; a pair of jaw members provided at the other end of the shaft and rotating about a rotation axis to open and close, The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips, the recess of the jaw member includes a first portion provided on a tip end side of the jaw member and having a first depth, and a second portion provided on a rotation axis side of the jaw member with respect to the first portion and having a second depth greater than the first depth, the recess of the jaw member is formed so that the first portion has a first width at an open end of the channel-shaped recess and the second portion has a second width at the open end of the recess that is greater than the first width.

2. The pair of jaw members sandwich the clip, which has a bent portion in the center and is generally U-shaped, and when they close, they crush and deform the clip, The surgical instrument of claim 1 , wherein the second portion of the recess is positioned at a position corresponding to the bent portion of the clip.

3. The clip has a bent portion between the bent portion and the tip portion, 3. The surgical instrument according to claim 2, wherein the first portion of the recess is formed to extend a predetermined length from the distal end side of the jaw member toward the pivot shaft side so as to abut against the bent portion of the clip.

4. A base attached to a robot arm; a shaft having one end connected to the base; a pair of jaw members provided at the other end of the shaft and rotating about a rotation axis to open and close, The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips, the recess of the jaw member includes a first portion provided on a tip end side of the jaw member and having a first depth, and a second portion provided on a rotation axis side of the jaw member with respect to the first portion and having a second depth greater than the first depth, The second portion of the recess has a second depth that is smaller than a thickness of the clip in the depth direction of the recess before deformation.

5. The surgical instrument of claim 1 , wherein the recess in the jaw member is formed so that the first portion has the first depth that is generally uniform and the second portion has the second depth that is generally uniform.

6. 6. The surgical instrument of claim 5, wherein the recess of the jaw member further includes a connecting portion that gradually changes in depth from the first depth to the second depth from the first portion toward the second portion, connecting the first portion and the second portion.

7. 2. The surgical instrument according to claim 1, wherein the recess of the jaw member is formed such that the length of the first portion is greater than the length of the second portion in a direction from the distal end side of the jaw member toward the rotation axis side.

8. The surgical instrument of claim 1 , wherein the recess in the jaw member has a generally V-shaped cross-section.

9. A robotic arm, a surgical instrument attached to the robotic arm; the surgical instrument includes a base attached to the robot arm, a shaft having one end connected to the base, and a pair of jaw members provided at the other end of the shaft and rotating about a rotation axis to open and close, The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips, the recess of the jaw member includes a first portion provided on a tip end side of the jaw member and having a first depth, and a second portion provided on a rotation axis side of the jaw member with respect to the first portion and having a second depth greater than the first depth, a surgical support robot, wherein the recess of the jaw member is formed so that the first portion has a first width at an open end of the groove-shaped recess, and the second portion has a second width at the open end of the recess that is larger than the first width.

10. A robotic arm; a surgical instrument attached to the robotic arm; the surgical instrument includes a base attached to the robot arm, a shaft having one end connected to the base, and a pair of jaw members provided at the other end of the shaft and rotating about a rotation axis to open and close, The opposing surfaces of the pair of jaw members are provided with groove-shaped recesses for holding clips, the recess of the jaw member includes a first portion provided on a tip end side of the jaw member and having a first depth, and a second portion provided on a rotation axis side of the jaw member with respect to the first portion and having a second depth greater than the first depth, A surgical support robot, wherein the second portion of the recess has a second depth that is smaller than the thickness of the clip in the depth direction of the recess before deformation.

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