clamping device

Abstract

The device comprises a gripping portion, a plurality of wires for transmitting a driving force to operate the gripping portion, a cable for supplying current to the gripping portion, a support body for holding the gripping portion, and a first pivot shaft for rotatably supporting the support body, wherein the wires are arranged at both ends of the first pivot shaft, the support body has a guide portion for guiding the cable toward the first pivot shaft, and the cable is guided by the guide portion to one side sandwiched between the central part of the first pivot shaft and the wires.

Description

Technical Field

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

Background Art

[0002] In surgical operations using a surgical robot, a bipolar type forceps (hereinafter also referred to as a bipolar forceps) capable of incising and cauterizing living tissue by passing a high-frequency current through a pair of gripping parts is used. In a bipolar forceps, a wire for transmitting a driving force is hung on a movable part such as a gripping part or a joint part, and a wire (hereinafter also referred to as a cable) is connected to the gripping part. In this case, when the wire is pulled and the movable part operates, the cable connected to the movable part also moves passively. Therefore, in the bipolar forceps disclosed in Patent Document 1, a first pulley and a second pulley are provided at the joint part, and the cable connected to one gripping part is constrained to move around the first pulley, and the cable connected to the other gripping part is constrained to move around the second pulley. <000遂に、

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the forceps device as described above, since a pulley is required for each cable, the number of components increases and it becomes difficult to miniaturize the device. Therefore, an object of the present disclosure is to provide a forceps device that can reduce the size of the device and enable smooth movement of the cable.

Means for Solving the Problems

[0005] A forceps device according to one aspect of this disclosure is: a pair The gripping part and the aforementioned each Multiple wires that transmit the driving force to operate the gripping part, and the each A cable that supplies current to the gripping part, and the aforementioned each A support body for holding the gripping portion, and a first pivot shaft that rotatably supports the support body, Multiple guide pulleys arranged coaxially with the first pivot axis, The wire is positioned at both ends of the first pivot shaft, and the support has a guide portion that guides the cable toward the first pivot shaft. Each gripping part is connected The cable is guided by the guide portion to one side sandwiched between the central part of the first pivot shaft and the wire. , each half-circumference of one of the guide pulleys is separately attached . [Effects of the Invention]

[0006] According to this disclosure, it is possible to provide a forceps device that can be miniaturized and allows for the smooth movement of cables. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 is a perspective view of the forceps device 10 according to an embodiment. [Figure 2] Figure 2 is a front view of the forceps device 10 shown in Figure 1, viewed from direction A. [Figure 3] Figure 3 is a side view of the forceps device 10 shown in Figure 1, viewed from direction B. [Figure 4] Figure 4 is a rear perspective view of the forceps device 10 shown in Figure 1, viewed from direction C. [Figure 5] Figure 5(a) is a front view of the support 14 according to the embodiment, and Figure 5(b) is a plan view of the support 14 shown in Figure 5(a) as seen from direction D. [Figure 6] Figure 6(a) is an upward perspective view of the support 14 shown in Figure 5, viewed from direction E, and Figure 6(b) is a downward perspective view of the support 14 shown in Figure 5, viewed from direction F. [Figure 7] Figure 7 is a diagram illustrating the arrangement of cables 60 and 62 in the support 14 according to the embodiment. [Modes for carrying out the invention]

[0008] The forms for implementing this disclosure are described in detail below. However, this disclosure is not limited to these examples, but is intended to include all modifications within the meaning and scope of the claims as indicated by the claims. In addition, with regard to the descriptions and drawings of each embodiment, redundant explanations may be omitted by assigning the same reference numeral to components that have substantially the same or corresponding functional configurations.

[0009] Furthermore, drawings may be exaggerated, omitted, or have their proportions adjusted as appropriate to facilitate understanding, and may differ from the actual shape, positional relationships, and proportions. In cross-sectional views, hatching lines may be omitted. Also, in drawings, edges representing steps or slopes may be shown with dashed lines.

[0010] In the direction of the central axis of the forceps device 10 (hereinafter also referred to as the first axis V), the side with the gripping part 12 at the tip is considered the downstream side, and the opposite side is considered the upstream side. In each figure, "-Y" indicates the upstream direction, and "+Y" indicates the downstream direction. "+X" indicates the right-hand direction when facing upstream from the gripping part 12 side, and "-X" indicates the left-hand direction when facing upstream from the gripping part 12 side. "+Z" indicates the front direction, and "-Z" indicates the rear direction. The directions indicated by X, Y, and Z are mutually orthogonal and each constitutes a three-dimensional coordinate axis. With respect to an object, the +X side may be considered the right side, the -X side the left side, the +Y side the upper side, the -Y side the lower side, the +Z side the front side, and the -Z side the rear side. In addition, the X-axis direction may be considered the left-right direction, the Y-axis direction the up-down direction, and the Z-axis direction the front-back direction.

[0011] <<Embodiment>> <Overall configuration of forceps device 10> First, let's describe the overall configuration of the forceps device 10. The forceps device 10 according to this embodiment is a bipolar forceps and is applied to a master-slave type surgical robot. FIG. 1 is a perspective view of a forceps device 10 according to an embodiment. FIG. 2 is a front view of the forceps device 10 shown in FIG. 1 as viewed from the A direction. FIG. 3 is a side view of the forceps device 10 shown in FIG. 1 as viewed from the B direction. FIG. 4 is a rear perspective view of the forceps device 10 shown in FIG. 1 as viewed from the C direction. The forceps device 10 includes a pair of gripping portions 12, a support 14 that holds the pair of gripping portions 12, a first rotating shaft 16 that rotatably supports the support 14, a base component 18 that holds the first rotating shaft 16, four guide pulleys (first guide pulleys) 20 that are coaxial with the first rotating shaft 16 and around which wires 46, 48, 50, 52 are looped, a guide pulley (second guide pulley) 22 that is coaxial with the first rotating shaft 16 and around which cables 60, 62 are looped, a second rotating shaft 24 that rotatably supports the pair of gripping portions 12 and is held by the support 14, and two jaw pulleys (gripping portion pulleys) 26 that are held coaxially with the second rotating shaft 24. Note that the rotating shaft is not limited to a member that rotates (revolves) itself, but may be a shaft that serves as an axis when a supporting member rotates, and may be a shaft fixed to another member.

[0012] [Base component 18] The base component 18 has a pair of arms 18a that hold both ends of the first rotating shaft 16, and a third rotating shaft 28 that is held by the pair of arms 18a and rotatably supports two guide pulleys located upstream of the guide pulley 20. Note that the third rotating shaft 28 is provided on each of the pair of arms 18a.

[0013] [Support 14] FIG. 5(a) is a front view of a support 14 according to an embodiment, and FIG. 5(b) is a plan view of the support 14 shown in FIG. 5(a) as viewed from the D direction. FIG. 6(a) is an upper perspective view of the support shown in FIG. 5 as viewed from the E direction, and FIG. 6(b) is a lower perspective view of the support shown in FIG. 5 as viewed from the F direction. The support 14 has a pair of arms 14a that hold the second rotating shaft 24, a guide portion 14b that is provided between the pair of arms 14a and guides a cable to the guide pulley 22, and a pulley portion 14c into which the first rotating shaft 16 is inserted. [[ID=十七]]

[0014] (Pair of arms 14a) The arm 14a is thinner at the tip portion that holds the second rotation axis 24 than at the base end portion. A guide portion 14b is provided on the inner side in the second axial direction of the pair of arms 14a. Further, an insertion hole 14d through which the second rotation axis 24 is inserted is provided on the tip side of the arm 14a.

[0015] (Pulley portion 14c) The pulley portion 14c has a pulley groove 32 formed along the circumferential direction of the first rotation axis 16. Further, the pulley portion 14c is located below the arm 14a (on the side of the base component 18) and is displaced and arranged to the left with respect to the first axis V. A circular through hole 29 in which a bearing 30 as a bearing is mounted is formed in the pulley portion 14c. And the first rotation axis 16 that rotatably supports the support body 14 is inserted into the bearing 30 mounted on the pulley portion 14c. Further, wires 54 and 56 that transmit a driving force for rotating the support body 14 about the first rotation axis 16 are hung on the pulley portion 14c. (Guide portion 14b) The guide portion 14b is provided sandwiched between the pair of arms 14a and the pulley portion 14c. Further, the guide portion 14b has a pair of side surfaces facing in the direction of the first rotation axis 16, an upper surface portion that is continuous with the upper side of the side surface portion and has a guide hole 38, and a bottom surface portion that is continuous with the lower side of the side surface portion and has a lead-out hole 42.

[0016] Further, a groove portion 34 extending in the front-rear direction (the direction of the second rotation axis 24) formed along the circumferential direction of the pulley groove 32 is formed in the guide portion 14b. The groove portion 34 is formed so as to cross the guide portion 14b along the front-rear direction. Therefore, open holes 40 leading to the groove portion 34 are formed in the upper surface portion and the bottom surface portion. The side surface portion constitutes an inclined surface that widens outward in the direction of the first rotation axis 16 as it goes upward (toward the gripping portion 12). A pair of deflection pulleys 36 are attached to the outer side in the direction of the first rotation axis 1 of the side surface portion. The length (height) of the side surface portion in the direction of the first axis V line is slightly smaller than half of the length (height) of the arm 14a. The upper surface has two substantially elliptical guide holes 38 and an open hole 40 formed along the front-to-back direction.

[0017] The two guide holes 38 are positioned adjacent to each other in the front-to-back direction. Furthermore, the two guide holes 38 are positioned offset from each other in the left-to-right direction with respect to the first axis V. For example, the guide hole 38 into which the cable 62 connected to the rear gripping portion 12 is inserted (hereinafter also referred to as the first guide hole) is offset to the right, and the guide hole 38 into which the cable 60 connected to the front gripping portion 12 is inserted (hereinafter also referred to as the second guide hole) is offset to the left. The periphery of the guide holes 38, which are offset from each other in the left-to-right direction, is formed to protrude outward from the side surface in the direction of the first pivot axis 16. Also, the left end of the guide hole 38 is connected to the open hole 40. That is, the guide hole 38 and the open hole 40 are continuous. In this way, by shifting the guide holes 38 in the left-right direction according to the cables 60 and 62 to be inserted, it becomes easier to insert the cables 60 and 62.

[0018] The bottom portion has two circular outlet holes 42 and an open hole 40 formed along the front-to-back direction. The two outlet holes 42 are positioned offset to the right of the first axis V. They are also positioned adjacent to each other in the front-to-back direction. Note that the outlet holes 42 may have a smaller diameter than the guide hole 38. The guide hole 38 and the outlet hole 42 are in communication in the direction of the first axis V. Hereinafter, the outlet hole 42 communicating with the first guide hole 38 will also be referred to as the first outlet hole, and the outlet hole 42 communicating with the second guide hole 38 will also be referred to as the second outlet hole. Furthermore, the cable insertion space formed by the communication between the first guide hole 38 and the first outlet hole 42 will also be referred to as the first insertion space S1, and the cable insertion space formed by the communication between the second guide hole 38 and the second outlet hole 42 will also be referred to as the second insertion space S2. The first insertion space S1 and the second insertion space S2 are partially separated by a partition wall 44 formed along the left-right direction. A cable 62 connected to the rear gripping portion 12 is inserted through the first insertion space S1, and a cable 60 connected to the front gripping portion 12 is inserted through the second insertion space S2. As a result, cable 62 inserted into the first guide hole 38 from the right side relative to the first axis V, and cable 60 inserted into the first guide hole 38 from the left side relative to the first axis V, are led out to the right side relative to the first axis V via the exit hole 42. That is, wires 60 and 62 inserted into the guide portion 14b from the left and right sides of the first axis V are guided into the first insertion space S1 and the second insertion space S2 and led out to the right side relative to the first axis V.

[0019] (Guide pulley 22) The guide pulley 22 is rotatably supported on the first pivot shaft 16 and positioned offset to the right of the first shaft V. The guide pulley 22 is also rotatably supported on the first pivot shaft 16, which is inserted into a bearing 30 mounted on the support body 14. Two cables 60 and 62, led out from the guide section 14b, are each routed separately over half of the circumference of the guide pulley 22. Specifically, cable 62, connected to the rear gripping section 12, is routed over the rear half of the circumference of the guide pulley 22 relative to the first shaft V, and cable 60, connected to the front gripping section 12, is routed over the front half of the circumference of the guide pulley 22 relative to the first shaft V. The cables 60 and 62 are led out by the guide section 14b above the corresponding half of the circumference of the guide pulley 22. Specifically, cable 62 is routed through the first outlet hole 42 to the upper half of the rear circumference of the guide pulley 22, and cable 60 is routed through the second outlet hole 42 to the upper half of the front circumference of the guide pulley 22. In this way, the two cables 60 and 62, which are led out to the right of the first axis V by the guide section 14b, are hung on one guide pulley 22. Therefore, compared to the case where a pulley is placed for each cable 60 and 64, by allowing the two cables 60 and 64 to be carried by a single guide pulley 22, the number of components can be reduced, resulting in weight reduction and cost reduction. Furthermore, by using only one guide pulley 22, the increase in size in the outer diameter direction can be suppressed, thus enabling miniaturization (reduction in diameter) of the device.

[0020] (Deflection pulley 36) The deflection pulley 36 is attached, for example, to the outer surface of the side portion by a spindle. The deflection pulley 36 is also attached at a predetermined angle with respect to the first pivot shaft 16. The deflection pulley 36 deflects the wires 46 and 50 toward the guide pulley 20, which is positioned inward in the direction of the first pivot axis 16.

[0021] (Wires 46, 48, 50, 52, 54, 56) Wires 46, 48, 50, 52, 54, and 56 are each used to transmit driving force to operate the gripping section 12 and the joints. Specifically, wires 46 and 48 are connected to and hung on the jaw pulley 26 of the front gripping section 12, so that the front gripping section 12 moves in the opening direction when wire 46 is pulled and in the closing direction when wire 48 is pulled. Also, wires 50 and 52 are connected to and hung on the jaw pulley 26 of the rear gripping section 12, so that the rear gripping section 12 moves in the opening direction when wire 50 is pulled and in the closing direction when wire 52 is pulled. Furthermore, each of the four guide pulleys 20 is connected to a corresponding wire 46, 48, 50, or 52. The wires 46, 48, 50, and 52 pass through the corresponding guide pulley 20 and are stretched over the upper side (grip side 12) of the guide pulley 20. Each of the wires 54 and 56 is for transmitting a driving force that rotates the support 14 around the first pivot axis 16. Specifically, the wires 54 and 56 are attached to the pulley portion 14c, and the support 14 rotates around the first pivot axis 16 when the wires 54 and 56 are pulled.

[0022] (Cables 60, 62) Each of the cables 60 and 62 consists of a copper conductor covered with an insulating layer. When the cables 60 and 62 are connected to the gripping part 12, the gripping part 12 becomes an electrode. Specifically, one end of each cable 60 and 62 is connected to the gripping part 12, and the other end is attached to the half-circumference side of the jaw pulley 26 where the wires 48 and 52 are attached, adjacent to the wires 48 and 52. When the wires 48 and 52 are pulled and the gripping part 12 moves in the closing direction, the gripping part 12 pulls the cables 60 and 62 starting from the connection point. As a result, the cables 60 and 62 move upstream, pushed by the gripping part 12, starting from the connection point.

[0023] (Arrangement of guide pulleys 20 and 22) On the first pivot shaft 16, guide pulleys 20, 20, pulley section 14c, 22, 20, and 20 are arranged in this order in the left-right direction. Furthermore, guide pulleys 20, 20, and 14c are positioned to the left of the first shaft V, while guide pulleys 22, 20, and 20 are positioned to the right of the first shaft V. In the aforementioned arrangement, the corresponding wires 46, 48, 50, 52, 54, and 56 are respectively attached. Thus, wires 46, 48, 50, 52, 54, and 56 are arranged asymmetrically on either side of the first axis V.

[0024] (Diameter of guide pulleys 20 and 22) When the wires 54 and 56 are pulled and the support 14 rotates around the first pivot axis 16, the lengths of the wires 46, 48, 50, 52 and the cables 60, 62 change between each guide pulley 20, 22 and the gripping part 12. In other words, when the forceps device 10 is bent, the path lengths of the wires 46, 48, 50, 52 and the cables 60, 62 change. Therefore, when the forceps device 10 is bent, the diameters of the guide pulleys 20 and 22 were set so that the change in the path length of the wires 46, 48, 50, and 52 is greater than or equal to the change in the path length of the cables 60 and 62.

[0025] In this embodiment, the diameter of the guide pulley 20 for wires 46, 48, 50, and 52 is set to, for example, 3.0 mm, and the diameter of the guide pulley 22 for cables 60 and 62 is set to, for example, 1.94 mm. Furthermore, wires 46, 48, 50, and 52 with a diameter of, for example, 0.45 mm are wound around the guide pulley 20, and cables 60 and 62 with a diameter of, for example, 0.67 mm are wound around the guide pulley 22. That is, the sum of the diameters of the guide pulley 20 and the wires 46, 48, 50, and 52 is greater than or equal to the sum of the diameters of the guide pulley 22 and the cables 60 and 62. This makes it possible to suppress damage to cables 60 and 62 during joint flexion and improve the durability of cables 60 and 62.

[0026] As described above, the forceps device 10 comprises a gripping section 12, a plurality of wires 46, 48, 50, 52 that transmit driving force to operate the gripping section 12, cables 60, 62 that supply current to the gripping section 12, a support 14 that holds the gripping section 12, and a first pivot shaft 16 that rotatably supports the support 14. The wires 46, 48, 50, 52 are arranged at both ends of the first pivot shaft 16, and the support 14 has a guide section 14b that guides the cables 60, 62 toward the first pivot shaft 16. The cables 60, 62 are guided by the guide section 14b to one side sandwiched between the central part of the first pivot shaft 16 and the wires 46, 48, 50, 52. This makes it possible to miniaturize the device and to provide a forceps device 10 that allows for the smooth movement of the cables 60, 62.

[0027] Furthermore, by configuring the two cables 60 and 62 to move while being guided by a single guide pulley 22, the number of components can be reduced, thereby lowering manufacturing costs and reducing weight. In addition, the diameter of the forceps device 10 can be reduced.

[0028] Furthermore, by setting the diameters of the guide pulleys 20 and 22 such that the change in the path length of wires 46, 48, 50, and 52 during joint flexion is greater than the change in the path length of cables 60 and 62, damage to cables 60 and 62 can be suppressed, and the durability of cables 60 and 62 can be improved.

[0029] Although the forceps device has been described above with reference to embodiments, this disclosure is not limited to the embodiments described above, and various modifications and improvements, such as combinations or substitutions with parts or all of other embodiments, are possible within the scope specified in the claims. [Explanation of Symbols]

[0030] 10 Forceps device 12 Grip part 14 Support 14a Arm 14b Guide section 14c pulley section 14d Through hole 16. First pivot axis 18 base parts 18a Arm 20 Guide pulley (first guide pulley) 22 Guide pulley (second guide pulley) 24 Second pivot axis 26. Jaw pulley (gripping pulley) 28 Third pivot axis 29 Through hole 30 bearings 32 pulley grooves 34 Groove 36 Deflection pulley 38 guide holes 40 open hole 42 Outlet hole 44 Partition wall section 46, 48, 50, 52, 54, 56 wires 60, 62 Cable V First axis S1 First insertion space S2 Second insertion space

Claims

1. A pair of gripping parts, Multiple wires that transmit the driving force to operate each of the gripping parts, A cable that supplies current to each of the aforementioned gripping parts, A support that holds each of the aforementioned gripping parts, A first pivot shaft that rotatably supports the aforementioned support, The system comprises a plurality of guide pulleys arranged coaxially with the first pivot axis, The wires are arranged at both ends of the first pivot shaft, The support has a guide portion that guides the cable toward the first pivot axis side, The cables connected to each of the gripping parts are guided by the guide part to one side sandwiched between the central part of the first pivot shaft and the wire, and are separately hung on each half-circumference of one of the guide pulleys. forceps device.

2. The wire connected to the one gripping portion is positioned at one end of the first pivot shaft, The wire connected to the other gripping portion is positioned at the other end of the first pivot shaft. The forceps device according to claim 1.

3. The plurality of guide pulleys include a first guide pulley on which a wire connected to each of the gripping portions is hung, and a second guide pulley on which a cable connected to each of the gripping portions is hung, The first guide pulley is positioned at each of the two ends of the first pivot shaft, The second guide pulley is positioned on one side sandwiched between the central part of the first pivot shaft and each of the first guide pulleys. The forceps device according to claim 2.

4. The second guide pulley is positioned on one side of which each cable is guided by the guide portion. The forceps device according to claim 3.

5. The guide portion has a guide hole at one end along the first axial direction and an outlet hole at the other end. The guide hole and the outlet hole are in communication, Each cable inserted into the guide portion through the guide hole is led out through the exit hole toward each half-circumference portion of the second guide pulley. The forceps device according to claim 4.

6. The support has a pulley portion in which a through hole is formed into which a bearing is mounted. The support is rotatably supported by the first pivot shaft, which is inserted into the bearing mounted on the pulley portion. The second guide pulley is positioned on one side of the first shaft, The pulley portion is positioned on the other side with respect to the first shaft. The forceps measure according to claim 5.

7. During rotation of the support, The change in the path length of the wire from the first guide pulley to the gripping portion is greater than or equal to the change in the path length of the cable from the second guide pulley to the gripping portion. The forceps device according to any one of claims 1 to 6.

8. The sum of the diameter of the first guide pulley and the wire diameter is greater than or equal to the sum of the diameter of the second guide pulley and the cable diameter. The forceps device according to claim 7.

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