Suction device

Abstract

Provided is a suction device that is capable of supplying water and configured to make it easy to grip a suction tip in a stable state with a robot arm. In order to achieve this, an embodiment of the present disclosure is a suction device 1 used in endoscopic surgery, the suction device 1 comprising: a tube 20 having a proximal end 20b side connected to a suction apparatus 10; a suction tip 30 connected to the distal end 20t side of the tube 20; an elastic or flexible member 40 to be gripped that is provided on the outer peripheral surface 30p of the suction tip 30; and a water supply tube 70 that enables water supply. A plurality of suction holes 32 may be provided on the outer peripheral surface 30p of the suction tip 30. It is preferable that suction holes 32 are also provided at around the distal end 30t of the suction tip 30.

Description

Suction device

[0001] The present invention relates to a suction device used in endoscopic surgery.

[0002] In recent years, endoscopic surgery has been performed while remotely operating using a surgical support robot. During such surgery, it is essential to efficiently suck and deliver such liquids as body fluids such as blood and tissue fluid and liquids such as cleaning fluid so that the surgical field is not obscured by these liquids. Such suction work may be performed while a doctor or assistant operates a suction device held by hand, or may be performed while remotely operating a suction device gripped by a robot arm (see, for example, Patent Document 1). As the suction device, one equipped with a metal suction nozzle tube or the like is used.

[0003] In an actual endoscopic surgery scene, leaving the suction nozzle tube of the suction device gripped by one of the limited number of robot arms may be inefficient overall. Therefore, when not sucking, other operations can be performed with the robot arm that has once released the suction nozzle tube, and when suction is required, the robot arm grips the suction nozzle tube to perform the suction operation, and once that is finished, the suction nozzle tube is released again. In some cases, the operation of releasing and then gripping the suction nozzle tube again is repeated.

[0004] Japanese Patent Application Laid-Open No. 2024-119780

[0005] However, the operation of gripping the suction nozzle tube again with the robot arm can actually be difficult. This is because it is desirable to firmly grip the suction nozzle tube with a force that does not crush it, but it is not easy to achieve this with a robot arm. This is especially true when the suction nozzle tube is made of metal, as it is difficult to adjust the gripping force, and depending on the way and position of gripping, the suction nozzle tube may slip or rotate around the gripping part, making it difficult to determine the posture.

[0006] Therefore, an object of the present invention is to provide a suction device capable of water delivery with a structure that makes it easy for a robot arm to grip the suction nozzle tube in a stable state.

[0007] One aspect of the present invention is a suction device used in laparoscopic surgery, comprising: a tube whose proximal end is connected to a suction device; a suction nozzle connected to the tip of the tube; an elastic or flexible gripping member provided on the outer surface of the suction nozzle; a switching device for switching the suction pressure; and a water supply tube for supplying water.

[0008] One reason why it is difficult to re-grasp a suction tube with a robotic arm is that it is difficult to create a stable and secure grip. More specifically, this can be attributed to the fact that when attempting to grip the outer circumference of a tubular suction tube with a metal robotic arm, the contact area between the two is inevitably narrow, resulting in a point contact. Another reason is that when gripping a metal suction tube with a metal robotic arm, it is difficult to determine how much gripping force is being applied or how much gripping force is appropriate. In this aspect, with the suction device of this embodiment, when gripping the suction tube with the robotic arm, the suction tube can be prevented from slipping or rotating by gripping it while holding an elastic or flexible member to be gripped. Moreover, when gripped, the member to be gripped deforms in a way that crushes, which appropriately distributes the force and allows the gripping force to be applied to a wider area. Furthermore, the degree of deformation and elasticity of the gripped member can be used to confirm the magnitude of the gripping force, making it easier to adjust the force as needed.

[0009] In the suction device described above, a plurality of suction holes may be provided on the outer surface of the suction nozzle.

[0010] In the suction device described above, a suction hole may also be provided at the tip of the suction nozzle.

[0011] In the suction device described above, the suction nozzle may have a two-layer structure.

[0012] In the suction device described above, the positions of the suction holes in the outer layer and the inner layer may be misaligned.

[0013] In the suction device described above, the suction nozzle may be made of a flexible material.

[0014] In the suction device described above, the member to be grasped may be made of a material in which the frictional force between it and the grasping portion at the tip of the arm of the surgical assistance robot is greater than the frictional force between the grasping portion and the outer surface of the suction nozzle.

[0015] In the suction device described above, the member to be gripped may be positioned so as not to overlap with the suction hole.

[0016] In the suction device described above, the member to be gripped may include a plurality of members extending along the longitudinal direction of the suction nozzle.

[0017] In the suction device described above, the member to be gripped may include an annular member that wraps around the outer surface of the suction nozzle.

[0018] In the suction device described above, multiple annular members may be provided along the longitudinal direction of the suction nozzle.

[0019] In the suction device described above, a portion of the tube at the proximal end may be provided that has higher rigidity than the tip end.

[0020] In the suction device described above, the length of the rigid portion should be longer than the thickness of the wound edge protector used in laparoscopic surgery.

[0021] The suction device described above may further include a switching device for switching the suction pressure.

[0022] In the suction device described above, the switching device may consist of a device that switches the suction pressure in stages.

[0023] In the suction device described above, the switching device may consist of a device that switches the suction pressure on and off.

[0024] In the suction device described above, the switching device may consist of a clamping device that switches the suction pressure on and off.

[0025] According to the present invention, it is possible to provide a water-supplying suction device with a structure that makes it easy for a robotic arm to stably grasp the suction nozzle.

[0026] This figure shows a schematic diagram of the structure of a suction device according to one embodiment of the present invention. This image shows an example of a wound edge protector attached to the patient's abdomen at the start of endoscopic surgery, forming an insertion portion into the abdominal cavity, and its surroundings. This image shows a suction tube inserted into the abdominal cavity and its surroundings. This image shows a suction tube grasped by a robotic arm and its surroundings. This image shows a bleeding area in the patient's abdominal cavity. This image shows the area after blood etc. has been aspirated from the bleeding area with a suction device. This image shows a part of the liver being gently pulled using a soft suction tube. This image shows blood etc. being aspirated from the bleeding area using a soft polyvinyl chloride suction tube. This image shows an attempt to pull a part of the liver in the direction of the arrow using a soft polyvinyl chloride suction tube. This image shows a part of the liver being gently pulled in the direction of the arrow using a soft polyvinyl chloride suction tube, and the field of view being opened.

[0027] The configuration of the present invention will be described in detail below based on an example of an embodiment shown in the drawings.

[0028] The suction device 1 according to this application is a device used to aspirate bodily fluids such as blood and tissue fluid, as well as liquids such as lavage solutions, from a patient during endoscopic surgery. The suction device 1 of this embodiment is configured to include a suction device 10, a tube 20, a suction nozzle 30, a gripping member 40, a switching device 50, a water supply tube 70, and the like (see Figure 1).

[0029] The suction device 10 is a device that generates negative pressure (suction pressure) for aspirating bodily fluids such as blood and tissue fluid, or liquids such as washing solutions. Although not shown in detail in the illustration, a pump for liquid aspiration is used as the suction device 10 (see Figure 1).

[0030] Tube 20 is a tube also called a safeid or cannula, and its proximal end 20b is connected to the suction device 10, functioning as a suction tube. In this embodiment, tube 20 is formed from a polyvinyl chloride (PVC) catheter, but this is merely a preferred example, and it goes without saying that it can be made from various other materials and in various sizes. A suction nozzle 30 is connected to the tip of tube 20.

[0031] In this embodiment, the tube 20 of the suction device 1 is provided with a portion at its base end 20b that is more rigid than the tip end 20t (indicated by reference numeral 22 in Figure 1). The length of the rigid portion 22 is set to be longer than the thickness of the wound edge protector 60 used in laparoscopic surgery. After inserting the tube 20 directly into the wound edge protector 60 from the tip end 20t, the rigid portion 22 is positioned within the wound edge protector 60, thereby maintaining a state in which the lumen of the tube 20 is less likely to collapse even if external pressure is applied from the wound edge protector 60 during the procedure (see Figure 1).

[0032] The suction nozzle 30 is a tubular member connected to the tip 20t of the tube 20. In this embodiment, the suction nozzle 30 of the suction device 1 has a two-layer structure having an outer cylinder 30o as an outer layer and an inner cylinder 30i as an inner layer, and both the outer cylinder 30o and the inner cylinder 30i have a porous structure with a plurality of suction holes 32 (see Figure 1). If suction holes 32 are also provided at the tip 30t of the suction nozzle 30, it is easier to aspirate bodily fluids such as blood and tissue fluid, and liquids such as washing fluid, which tend to accumulate in the patient's abdominal cavity, especially locally. Furthermore, with such a two-layer and porous structure, it is easier to suppress the phenomenon of the suction holes 32 becoming clogged due to the aspirating of fat from the patient's abdominal cavity during the procedure. From the viewpoint of further suppressing liposuction, the positions of the suction holes 32 in the outer cylinder 30o and the inner cylinder 30i may be offset.

[0033] Furthermore, the suction cannula 30 is made of a material with appropriate flexibility, such as plastic. Here, appropriate flexibility refers to a softness suitable for gently pulling or moving a part of the internal organs (for example, the liver) in the abdominal cavity using the suction cannula 30 during surgery. Having flexibility suitable for such operations can help improve the efficiency and shorten the time of surgery. The flexibility of the suction cannula 30 can be adjusted appropriately by the material, or by combining different materials in parts. In addition, the flexibility of the suction cannula 30 can be adjusted by adjusting the thickness of the outer tube 30o and the inner tube 30i.

[0034] The gripping member 40 is an elastic or flexible member provided on the outer circumferential surface 30p of the suction cannula 30 (see Figure 1). The gripping member 40 is made of a material such that the frictional force between it and the jaw (gripping part) 106 at the tip of the robot arm 102 of the surgical support robot 100 is greater than the frictional force between the jaw (gripping part) 106 and the outer circumferential surface 30p of the suction cannula 30. When such a gripping member 40 is provided on the outer circumferential surface 30p of the suction cannula 30, it not only becomes easier to operate due to the anti-slip effect that suppresses slippage when the suction cannula 30 is gripped by the jaw (gripping part) 106, but it also becomes possible to grip only a part of the gripping member 40 with the jaw 106 and move the suction cannula 30 in that state, which greatly contributes to improving operability during the procedure. When only a portion of the gripped member 40 is pinched by the jaws 106, the pinched portion of the gripped member 40 is crushed, distributing the gripping force and making it less likely to slip. Specific materials for such a gripped member 40 include, for example, silicone, but as long as it improves operability as described above, the material is not particularly limited. Alternatively, gauze or nonwoven fabric can also be used for the gripped member 40.

[0035] The specific arrangement of the gripping member 40 is also not particularly limited. As an example, in the suction device 1 of this embodiment, a plurality of gripping pieces extending along the longitudinal direction of the suction nozzle 30 are provided on the outer circumferential surface 30p of the suction nozzle 30 to form the gripping member 40 (see Figure 1). If the gripping member 40 extends along the longitudinal direction, the grippable area is increased, making it easier to grip with the jaws 106. One gripping piece is sufficient, but from the viewpoint of making it easier to grip the gripping member 40 with the jaws 106 regardless of the posture or angle of the suction nozzle 30, it is preferable to have two or more, and even more preferable to have about three or four. However, in any case, it is preferable that the gripping member 40 is provided in a position that does not overlap with the suction hole 32.

[0036] The examples of the form of the gripped member 40 are not limited to those described above. Although not specifically shown in the figures, for example, the gripped member 40 may include an annular member that circumfers along the outer circumferential surface 30p of the suction nozzle 30. In this case, multiple annular members may be provided along the longitudinal direction of the suction nozzle 30.

[0037] The switching device 50 is a device for switching and adjusting the suction pressure in the suction device 1. In this embodiment, the suction device 1 is provided with a switching valve 51 and a clamping device 52 as the switching device 50 (see Figure 1).

[0038] The switching valve 51 is a device configured to switch the suction pressure in stages, allowing assistants in endoscopic surgery to switch the suction pressure in stages without fine adjustments by operating the switching valve 51. The number of stages that can be switched in this case is not particularly limited, but considering the actual situation, it is preferable to have about 3 or 4 stages of switching. Such a switching valve 51 can be made up of, for example, a manual device that switches the flow path by rotating a rotating body having multiple types (for example, 3 types) of flow paths inside a housing (see Figure 1), or a manual switching valve (directional control valve) that switches the fluid passage by manually operating a valve.

[0039] The clamp device 52 is provided as a device for switching the suction pressure on and off. The specific means for switching it on and off are not particularly limited, but in the suction device 1 of this embodiment, a manual clamp device 52 is employed that allows the suction pressure to be instantly turned off by clamping the tube 20 with the clamp 52c (see Figure 1). For example, if it becomes necessary to release the suction state during endoscopic surgery, assistants can immediately turn off the suction pressure by clamping the tube 20 with the clamp 52c of the clamp device 52.

[0040] The water supply tube 70 is a tube for supplying water from the suction nozzle 30. The water supply tube 70 is provided to branch off from one point on the tube 20, for example, between the switching valve 51 and the clamping device 52, and supplies water from a water supply device 72, such as a pump, located at its end, through the water supply tube 70 to the suction nozzle 30. The water supply tube 70 and the tube 20 are connected by various connectors, such as branching separators, T-type tube fittings, and joints, although these are not shown in the diagram. With a suction device 1 equipped with such a water supply tube 70 and water supply device 72, in addition to its original function of aspirating bleeding as described above, it can also have the function of supplying water from the suction nozzle 30 in situations where it is necessary to flush water over the affected area in the patient's abdominal cavity during a procedure.

[0041] The surgical support robot 100 is a device that enables endoscopic surgery by allowing the surgeon (doctor) to remotely control the robotic arm 102 while viewing a three-dimensional image of the affected area, without touching the patient. The tip of the instrument 104 attached to the robotic arm 102 is fitted with an opening and closing jaw (gripping part) 106.

[0042] The wound edge protector 60 is placed on the patient's abdomen during laparoscopic surgery and is used to maintain airtightness within the body cavity. When using the suction device 1 as in this embodiment, as described above, the tube 20 is inserted directly into the wound edge protector 60 from its tip 20t, and then the highly rigid portion 22 is positioned on the wound edge protector 60 (see Figure 1).

[0043] In the following section, we will describe, with accompanying images, the use of the suction device 1 as described above, or the process of using it, as an example (see Figures 2 to 7). The laparoscopic surgery described here was performed using a surgical assistance robot such as the da Vinci® Surgical System (manufactured by Intuitive Surgical).

[0044] Figure 2 shows an example of the wound edge protector 60 attached to the patient's abdomen at the start of the laparoscopic surgery and its surroundings. After the tube 20 is directly inserted into the wound edge protector 60 from its tip 20t, as described above, by positioning the highly rigid portion 22 at the wound edge protector 60, it is possible to maintain a state where the lumen of the tube 20 is not easily collapsed even if external pressure acts on the wound edge protector 60 during the operation (see Figure 1).

[0045] Figure 3 shows the state of the suction nozzle tube 30 inserted into the patient's abdominal cavity and its surroundings. Here, suction was performed using the suction nozzle tube 30 wrapped with gauze as the gripped member 40.

[0046] Figure 4 shows the state of the suction nozzle tube 30 gripped by the robotic arm 102 and its surroundings. Here, a part of the gauze as the gripped member 40 was pinched by the joystick 106, and in that state, the robotic arm 102 was operated to suck fluids such as blood, tissue fluid, and cleaning fluid.

[0047] Figure 5 shows the state of the bleeding part in the patient's abdominal cavity. Here, it can be seen that fluids such as blood, tissue fluid, and cleaning fluid are locally accumulated in the patient's abdominal cavity (the locally accumulated part is indicated by a circle).

[0048] Figure 6 shows the state after sucking the blood etc. of the bleeding part with a suction device. Here, the suction operation could be efficiently performed by operating the robotic arm 102 with a part of the gauze pinched.

[0049] Figure 7 shows the state when a part of the liver is gently pulled using the soft suction nozzle tube 30 (the pulled part is indicated by an oval mark). By using the suction nozzle tube 30 made of a material having appropriate flexibility such as plastic as in this embodiment, it was confirmed as a feeling that it is easy to gently pull or move a part of the internal organs (in this case, the liver) in the abdominal cavity during the operation. Also, when using the suction nozzle tube 30 wrapped with gauze as the gripped member 40, by gently pulling a part of the liver while applying the gauze, it was confirmed as a feeling that it is easier to operate more quickly and efficiently with less slippage compared to the case of using a metal suction nozzle tube.

[0050] Figure 8 shows the process of aspirating blood and other fluids from a bleeding area using a soft polyvinyl chloride suction nozzle 30 and tube 20. Because the suction nozzle 30 itself is as soft as the tube 20, its tip 30t in particular bends easily to conform to the internal organs (liver in this example) within the abdominal cavity. It was confirmed through practical experience that when the suction nozzle 30, especially its tip 30t, is sufficiently soft, it is possible to aspirate blood and other fluids even in confined spaces within the abdominal cavity, or at least it makes suction easier. Note that if the soft polyvinyl chloride suction nozzle 30 itself is grasped with the jaws 106, it deforms and impairs the suction ability. However, as in other cases, this problem does not occur if a portion of the gauze wrapped around the suction nozzle 30, which serves as the gripping member 40, is grasped with the jaws 106. In addition, when both the tube 20 and the suction nozzle 30 are made of a soft material (polyvinyl chloride), as in this example, they may be made of the same material as separate components and then connected together, or they may be made into an integrated structure in which the area near the tip 2t of the tube 20 is processed or shaped to function as the suction nozzle 30.

[0051] Figures 9A and 9B show the process of pulling a portion of the liver using a soft polyvinyl chloride suction tube 30 (arrows indicate the direction of the attempt to pull). As in this embodiment, by using a suction tube 30 in which the part including the tip 30t is made of a material with sufficient softness and flexibility, such as polyvinyl chloride, it was confirmed that during the procedure it is easier to gently and carefully pull or move a portion of the internal organs in the abdominal cavity (in this example, the liver) (without damaging the organ at all), and that it is easier to secure a clear surgical field because the field of view is opened up. Furthermore, when using a suction tube 30 wrapped in gauze as the grasped member 40, it was confirmed that by gently pulling a portion of the liver while applying the gauze, it is easier to manipulate the organ more quickly and efficiently by reducing slippage compared to when using a metal suction tube.

[0052] As explained above, with a suction device 1 like the one in this example, when the robot arm 102 grips the suction nozzle 30, gripping it while holding the gripped member 40, which has elasticity or flexibility, prevents the suction nozzle 30 from slipping or rotating. Moreover, when gripped, the gripped member 40 deforms in a way that it is crushed, so the force is appropriately distributed and the gripping force can be applied to a wider area. In addition, there is the advantage that the magnitude of the gripping force can be checked by the degree of deformation and elasticity of the gripped member 40, and the magnitude can be easily adjusted according to the situation.

[0053] While the embodiments described above are examples of preferred implementations of the present invention, they are not limited thereto, and various modifications are possible without departing from the spirit of the invention.

[0054] This invention is particularly suitable for use in suction devices used in laparoscopic surgery.

[0055] 1...Suction device 10...Suction device 20...Tube 20b...Proximal end 20t...Tip 22...Part with higher rigidity than the tip side 30...Suction nozzle 30i...Inner cylinder (inner layer) 30t...Tip 30o...Outer cylinder (outer layer) 30p...Outer surface 32...Suction hole 40...Member to be gripped 50...Switching device 51...Switching valve (switching device) 52...Clamping device (switching device) 52c...Clamp 60...Wound edge protector 70...Water supply tube 72...Water supply device 100...Surgical support robot 102...Robot arm (arm) 104...Instrument 106...Jaw (gripping part)

Claims

1. A suction device for use in laparoscopic surgery, comprising: a tube whose proximal end is connected to a suction device; a suction nozzle connected to the tip of the tube; a gripping member provided on the outer surface of the suction nozzle, which is elastic or flexible; and a water supply tube that enables water supply.

2. The suction device according to claim 1, wherein a plurality of suction holes are provided on the outer surface of the suction nozzle.

3. The suction device according to claim 2, wherein the tip of the suction nozzle is also provided with the suction hole.

4. The suction device according to claim 3, wherein the suction nozzle has a two-layer structure.

5. The suction device according to claim 4, wherein the positions of the suction holes are offset between the outer layer and the inner layer.

6. The suction device according to claim 2, wherein the suction nozzle is made of a flexible material.

7. The suction device according to any one of claims 2 to 6, wherein the member to be grasped is made of a material in which the frictional force between it and the grasping portion at the tip of the arm of the surgical assistance robot is greater than the frictional force between the grasping portion and the outer surface of the suction nozzle.

8. The suction device according to claim 7, wherein the member to be gripped is provided in a position that does not overlap with the suction hole.

9. The suction device according to claim 7, wherein the gripping member includes a plurality of members extending along the longitudinal direction of the suction nozzle.

10. The suction device according to claim 7, wherein the gripping member includes an annular member that circumfers along the outer surface of the suction nozzle.

11. The suction device according to claim 10, wherein a plurality of the annular members are provided along the longitudinal direction of the suction nozzle.

12. The suction device according to any one of claims 2 to 6, wherein a portion of the proximal end of the tube is provided with a higher rigidity than the tip end.

13. The suction device according to claim 12, wherein the length of the highly rigid portion is longer than the thickness of the wound edge protector used in laparoscopic surgery.

14. The suction device according to any one of claims 2 to 6, further comprising a switching device for switching suction pressure.

15. The suction device according to claim 14, wherein the switching device is configured to switch the suction pressure in stages.

16. The suction device according to claim 14, wherein the switching device is comprised of a device for switching the suction pressure on and off.

17. The suction device according to claim 16, wherein the switching device is comprised of a clamping device that switches the suction pressure on and off.

Images