Ligation device

Abstract

Provided is a ligation device capable of appropriately holding a thread and guiding the thread to the vicinity of a body to be ligated. This ligation device comprises: a jaw member having a first jaw and a second jaw that moves relative to the first jaw, the jaw member holding a body to be ligated between the first jaw and the second jaw; a storage portion that stores a thread for ligating the body to be ligated; and a tongue member 6A that moves in a first movement direction from the second jaw toward the first jaw while holding the thread stored in the storage portion. A downstream end 60F of the tongue member 6A has a notch 65A through which the thread is inserted. The notch 65A includes a slit 63A that has a width narrower than the thickness of the thread and with which the thread engages.

Description

Ligation device

[0001] The present invention relates to a ligation device for ligating an object to be ligated with a thread.

[0002] A ligation device that ligates an object to be ligated with a thread has been proposed. The ligation device ligates the object to be ligated by, in a state where the thread is wound around the object to be ligated, pressing a loop of the thread against the object to be ligated and tightening the loop. In the process of ligating the object to be ligated by the ligation device, there are cases where an operation of grasping the thread by a grasping member and pulling the thread toward the proximal end is performed.

[0003] Patent Document 1 discloses a suture retriever. The suture retriever has a concentric rod that is axially movable relative to a cannula. An edge hook is formed on the concentric rod. The suture retriever engages a suture with the edge hook in a state where the distal end of the concentric rod is exposed from the cannula. The suture retriever sandwiches and holds the suture between the cannula and the concentric rod by moving the concentric rod toward the proximal end in a state where the suture is engaged with the edge hook. When the suture retriever moves in this state, the suture held between the cannula and the concentric rod also moves.

[0004] Japanese National Publication of International Patent Application No. 9-501855

[0005] In the process of ligating an object to be ligated by a ligation device, a guiding function for guiding the thread toward the vicinity of the object to be ligated is desired. The thread guided by the guiding function is grasped by a grasping member and pulled toward the proximal end. Here, a member for realizing the guiding function is required to appropriately hold the thread.

[0006] An object of the present invention is to provide a ligation device that can appropriately hold a thread and guide the thread to the vicinity of an object to be ligated.

[0007] The ligation device according to the present invention comprises a jaw member that holds an object to be ligated between the first jaw and the second jaw, having a first jaw and a second jaw that moves relative to the first jaw, a receiving portion for receiving a thread to ligate the object to be ligated, and a tongue member that moves in a first movement direction from the second jaw toward the first jaw while holding the thread received in the receiving portion, wherein the tip of the tongue member has a notch through which the thread is inserted, and the notch is narrower in width than the thickness of the thread and includes a slit into which the thread engages.

[0008] The ligating device can guide the thread toward the vicinity of the object to be ligated by engaging the thread with the slit in the tongue member and moving in a first direction. Here, the width of the slit is narrower than the thickness of the thread. Therefore, the ligating device can properly hold the thread with the tongue member and guide the thread toward the vicinity of the object to be ligated.

[0009] Figure 1 is a perspective view of the ligation device 1 and a partially enlarged perspective view showing the state in which the cartridge 7 has been detached from the mounting part 28. Figure 1 is a cross-sectional view taken along line II-II in the direction of the arrow and a partially enlarged cross-sectional view showing the state of the mounting part 28 from which the cartridge 7 has been detached. Figure 1 is a cross-sectional view taken along line III-III in the direction of the arrow and a partially enlarged cross-sectional view showing the state of the mounting part 28 from which the cartridge 7 has been detached. Figure 1 is a cross-sectional view taken along line IV-IV in the direction of the arrow. A perspective view of the loop forming part 2B. A perspective view of the cartridge 7. A right side view of the cartridge 7. A front view of the cartridge 7. A bottom view of the cartridge 7. Figure 6 is a cross-sectional view taken along line X-X in the direction of the arrow. Figure 7 is a cross-sectional view taken along line XI-XI in the direction of the arrow. Figure 7 is a cross-sectional view taken along line XII-XII in the direction of the arrow. A perspective view of the gripping body 4, pusher 5, and drive unit 8. A rear view of the drive unit 8. A perspective view of the ligation gripping member 4A and the first drive mechanism 8A. This is a perspective view of the repositioning gripping member 4B and the second drive mechanism 8B. This is a perspective view of the pusher 5 and the third drive mechanism 8C. This is a perspective view of the first rods 41 and 43. This is a side view of the first rods 41 and 43. This is a perspective view of the second rods 42 and 44. This is a side view of the second rods 42 and 44. This is a cross-sectional view of the line XXII-XXII in Figure 21, viewed from the direction of the arrow. This is a perspective view of the first rods 41 and 43 and the second rods 42 and 44. This is a side view of the first rods 41 and 43 and the second rods 42 and 44 in the released state. This is a side view of the first rods 41 and 43 and the second rods 42 and 44 in the partially gripped state. This is a side view of the first rods 41 and 43 and the second rods 42 and 44 in the fully gripped state. This is a plan view of the tongue member 6A. This is a perspective view of the tongue member 6A. This is a left side view of the drive unit 90. This is a partial plan view of the tongue member 6A. This is a block diagram showing the electrical configuration of the robot R and the ligation device 1. This is a flowchart of the ligation process. This flowchart shows the ligation process and is a continuation of Figure 32. This is a flowchart of the tightening process. This graph shows the current value, the first derivative of the current value, and the second derivative of the current value obtained from the motor driver Fb1. This figure shows the initial state of the ligation process. This figure shows the first step of the ligation process. This figure shows the second step of the ligation process. This figure shows the third step of the ligation process.This is a diagram showing the fourth step of the ligation process. This is a diagram showing the fifth step of the ligation process. This is a diagram showing the sixth step of the ligation process. This is a diagram showing the seventh step of the ligation process. This is a diagram showing the ninth step of the ligation process. This is a diagram showing the tenth step of the ligation process. This is a diagram showing the eleventh step of the ligation process. This is a diagram showing the twelfth step of the ligation process. This is a diagram showing the thirteenth step of the ligation process. This is a diagram showing the state of the object to be ligated S with the thread T wound around it. This is a diagram showing the fourteenth step of the ligation process. This is a diagram showing the state of the object to be ligated S with the thread T wound around it. This is a diagram showing the fifteenth step of the ligation process. This is a diagram showing the sixteenth step of the ligation process. This is a diagram showing the movement of the thread T1 along the reel member 73. This is a diagram showing the winding of the thread T1 onto the reel member 73. This is a diagram showing the eighteenth step of the ligation process. This is a flowchart of the rearrangement process. This is a diagram showing the first step of the rearrangement process. This is a diagram showing the second step of the rearrangement process. This is a diagram showing the third step of the rearrangement process. This is a diagram showing the fourth step of the rearrangement process. This is a diagram showing the fifth step of the rearrangement process. This is a diagram showing the sixth step of the rearrangement process. This is a diagram showing the seventh step of the rearrangement process. This is a plan view of tongue member 6B. This is a plan view of tongue member 6C. This is a plan view of tongue member 6D. This is a plan view of tongue member 6E.

[0010] One embodiment of the ligation device 1 according to the present invention will be described with reference to the drawings. The drawings are used to illustrate the technical features that the present invention may adopt. The configuration of the device described is not intended to be the sole limiting factor, but is merely an illustrative example. The top, bottom, lower left, upper right, lower right, and upper left of Figure 1 correspond to the top, bottom, front, rear, left, and right sides of the ligation device 1, respectively.

[0011] <Overview of Ligation Device 1> Ligation device 1 is a device for ligating a target S with a thread T. The target S is, for example, a part of a living organism, such as a blood vessel. Ligation device 1 is used in conjunction with a surgical support robot R for performing surgery using minimally invasive techniques.

[0012] The ligation device 1 comprises the main body 2A, loop forming section 2B, and jaw member 3 shown in Figure 1, the gripping body 4 and pusher 5 shown in Figure 13, the tongue member 6A shown in Figure 27, and the drive unit 8 shown in Figure 13.

[0013] <Main body 2A> As shown in Figures 1 to 3, the main body 2A has a cylindrical shape and extends in the front-to-back direction. The jaw member 3, which will be described later, is supported at the front end of the main body 2A. The jaw member 3 is rotatable about a first axis C1 that extends in the vertical direction. In the following description, it is assumed that the main body 2A and the jaw member 3 are arranged in a straight line in the front-to-back direction.

[0014] As shown in Figure 4, multiple insertion holes are formed inside the main body 2A. Specifically, the first hole 21, the second hole 22A, the third hole 22B, the fourth hole 23A, the fifth hole 23B, the sixth hole 24A, the seventh hole 24B, the eighth hole 25A, the ninth hole 25B, and the tenth hole 26 are formed inside the main body 2A.

[0015] The first hole 21 is located in the left-right center of the main body 2A. As shown in Figure 2, the first hole 21 includes an extension portion 21A, a first branch portion 21B, and a second branch portion 21C. The extension portion 21A extends rearward from the front end of the main body 2A. The first branch portion 21B extends rearward from the rear end of the extension portion 21A. The second branch portion 21C extends diagonally downward and rearward from the rear end of the extension portion 21A, then bends rearward and extends rearward. At the rear end of the extension portion 21A, the first hole 21 branches into the first branch portion 21B and the second branch portion 21C. Parts of the ligation gripping member 4A and the pusher 5 are inserted through the first branch portion 21B. Part of the repositioning gripping member 4B is inserted through the second branch portion 21C.

[0016] The second hole 22A, third hole 22B, fourth hole 23A, fifth hole 23B, sixth hole 24A, seventh hole 24B, eighth hole 25A, ninth hole 25B, and tenth hole 26 shown in Figure 4 extend in the front-to-back direction.

[0017] The second hole 22A and the third hole 22B are located in the vertical center of the main body 2A. The second hole 22A is located to the right of the first hole 21. The third hole 22B is located to the left of the first hole 21. A third operating wire (not shown) is inserted through the second hole 22A and the third hole 22B. The fourth hole 23A is located to the right of the second branching section 21C. The fifth hole 23B is located to the left of the second branching section 21C. The loop-shaped rotating belt 230 shown in Figure 2 is inserted through the fourth hole 23A and the fifth hole 23B.

[0018] The sixth hole 24A is located to the right of the second hole 22A. The seventh hole 24B is located to the left of the third hole 22B. A second operating wire (not shown) is inserted through the sixth hole 24A and the seventh hole 24B. The jaw member 3 rotates relative to the main body 2A in response to the operation of the second operating wire.

[0019] The eighth hole 25A is located to the left of the first branch 21B. The ninth hole 25B is located to the left of the second branch 21C. The eighth hole 25A and the ninth hole 25B are aligned vertically. A fourth operating wire (not shown) is inserted through the eighth hole 25A and the ninth hole 25B. The tenth hole 26 is located to the right of the second branch 21C and to the left of the fourth hole 23A. The first operating wire 99 shown in Figure 29 is inserted through the tenth hole 26.

[0020] <Loop-forming section 2B> As shown in Figures 2 and 3, the loop-forming section 2B is located inside the main body 2A, behind the jaw member 3. The loop-forming section 2B causes the thread T in the extended portion 21A of the first hole 21 to form a loop. The loop-forming section 2B includes a first loop shaft 46 and a second loop shaft 56.

[0021] As shown in Figure 5, the first loop shaft 46 has a first support base 46A, a first separation base 46B, a second separation base 46C, a first separation wall 461B, a second separation wall 462B, a third separation wall 461C, a fourth separation wall 462C, and a first gear 46D. The second loop shaft 56 has a second support base 56A, a third separation base 56B, a fourth separation base 56C, a fifth separation wall 561B, a sixth separation wall 562B, a seventh separation wall 561C, an eighth separation wall 562C, and a second gear 56D.

[0022] The first support base 46A and the second support base 56A are circular plates and are perpendicular to the vertical direction. The first support base 46A and the second support base 56A are arranged in the front-to-back direction. The first support base 46A is positioned behind the second support base 56A. The first support base 46A is rotatable about a fourth axis C4 that extends vertically through its center. The second support base 56A is rotatable about a fifth axis C5 that extends vertically through its center.

[0023] A first groove 463 is formed on the side surface of the first support base 46A. The third operating wire extends from the rear to the front of the first support base 46A, wraps around the first groove 463 to change direction, and extends to the rear. A first gear 46D is provided on the underside of the first support base 46A. A second gear 56D is provided on the underside of the second support base 56A. The first gear 46D and the second gear 56D mesh together. In response to the operation of the third operating wire, the first support base 46A and the second support base 56A rotate in conjunction.

[0024] When viewed from above, if the first support base 46A rotates clockwise, the second support base 56A rotates counterclockwise. Hereinafter, this direction of rotation will be referred to as the "first rotation direction R1". When viewed from above, if the first support base 46A rotates counterclockwise, the second support base 56A rotates clockwise. Hereinafter, this direction of rotation will be referred to as the "second rotation direction R2". In the following explanation, unless otherwise specified, "clockwise direction" and "counterclockwise direction" refer to the direction of rotation when viewed from above.

[0025] The first separation platform 46B and the second separation platform 46C are provided on the upper surface of the first support base 46A. The first separation platform 46B and the second separation platform 46C are separated radially around the fourth axis C4. A second groove 460A is formed between the first separation platform 46B and the second separation platform 46C. The third separation platform 56B and the fourth separation platform 56C are provided on the upper surface of the second support base 56A. The third separation platform 56B and the fourth separation platform 56C are separated radially around the fifth axis C5. A third groove 560A is formed between the third separation platform 56B and the fourth separation platform 56C.

[0026] The first partition wall 461B and the second partition wall 462B protrude upward from the first partition base 46B. The first partition wall 461B and the second partition wall 462B are separated in the circumferential direction around the fourth axis C4. A fourth groove 460B is formed between the first partition wall 461B and the second partition wall 462B. The third partition wall 461C and the fourth partition wall 462C protrude upward from the second partition base 46C. The third partition wall 461C and the fourth partition wall 462C are separated in the circumferential direction around the fourth axis C4. A fifth groove 460C is formed between the third partition wall 461C and the fourth partition wall 462C. The upper ends of the first bulkhead 461B, the second bulkhead 462B, the third bulkhead 461C, and the fourth bulkhead 462C are inclined upward from one end to the other in a clockwise direction.

[0027] The fifth partition wall 561B and the sixth partition wall 562B protrude upward from the third partition base 56B. The fifth partition wall 561B and the sixth partition wall 562B are separated in the circumferential direction around the fifth axis C5. A sixth groove 560B is formed between the fifth partition wall 561B and the sixth partition wall 562B. The seventh partition wall 561C and the eighth partition wall 562C protrude upward from the fourth partition base 56C. The seventh partition wall 561C and the eighth partition wall 562C are separated in the circumferential direction around the fifth axis C5. A seventh groove 560C is formed between the seventh partition wall 561C and the eighth partition wall 562C. The upper ends of the fifth bulkhead 561B, the sixth bulkhead 562B, the seventh bulkhead 561C, and the eighth bulkhead 562C are inclined upward from one end to the other in a counterclockwise direction.

[0028] As shown in Figure 5, when the first loop axis 46 rotates and the second separation platform 46C is positioned to the right of the first separation platform 46B, the second loop axis 56 rotates in conjunction with it, and the fourth separation platform 56C is positioned to the left of the third separation platform 56B. Hereinafter, the rotation position shown in Figure 5 will be referred to as the "first rotation position". The position where the first loop axis 46 and the second loop axis 56 have rotated 90 degrees from the first rotation position in the first rotation direction R1 will be referred to as the "second rotation position". The position where the first loop axis 46 and the second loop axis 56 have rotated 180 degrees from the first rotation position will be referred to as the "third rotation position".

[0029] With the first loop axis 46 and the second loop axis 56 positioned in the first or third rotation position, the second groove 460A and the third groove 560A extend in the front-to-back direction, and the fourth groove 460B, the fifth groove 460C, the sixth groove 560B, and the seventh groove 560C extend in the left-to-right direction. With the first loop axis 46 and the second loop axis 56 positioned in the second rotation position, the second groove 460A and the third groove 560A extend in the left-to-right direction, and the fourth groove 460B, the fifth groove 460C, the sixth groove 560B, and the seventh groove 560C extend in the front-to-back direction.

[0030] The loop-forming unit 2B can form the first loop P1 and the second loop P2 shown in Figure 37, etc., by winding the thread T around the first loop shaft 46 and the second loop shaft 56. The first loop P1 is formed on the first loop shaft 46, and the second loop P2 is formed on the second loop shaft 56. Furthermore, by rotating the first loop shaft 46 and the second loop shaft 56 while the first loop P1 and the second loop P2 are formed, the loop-forming unit 2B can remove the first loop P1 and the second loop P2 from the first loop shaft 46 and the second loop shaft 56 while maintaining the state in which the first loop P1 and the second loop P2 are formed on the thread T.

[0031] <Jaw Member 3> As shown in Figure 1, the jaw member 3 is provided at the front end of the main body 2A. The jaw member 3 includes the jaw body 20A, the first jaw 3A, and the second jaw 3B.

[0032] The jaw body 20A is cylindrical and extends in the front-rear direction. The diameter of the jaw body 20A is the same as the diameter of the body 2A. The rear end of the jaw body 20A is rotatably supported by the body 2A. The front end of the jaw body 20A is provided with a first jaw 3A and a second jaw 3B. The first jaw 3A and the second jaw 3B hold the ligated body S shown in Figure 37, etc.

[0033] As shown in Figure 1, the first jaw 3A extends forward from the front end of the main body 2A. The width of the first jaw 3A in the left-right direction is smaller than the width of the jaw body 20A in the left-right direction.

[0034] The first jaw 3A and the jaw body 20A have mounting portions 28 to which the cartridge 7, described later, is attached. The portion of the mounting portion 28 provided on the jaw body 20A is called the first partial mounting portion 28A. The first partial mounting portion 28A is recessed downward from the upper surface of the jaw body 20A. The portion of the mounting portion 28 provided on the first jaw 3A is called the second partial mounting portion 32A. The second partial mounting portion 32A penetrates from the upper surface to the lower surface of the first jaw 3A. The width of the second partial mounting portion 32A in the left-right direction is smaller than the width of the first partial mounting portion 28A in the left-right direction.

[0035] As shown in Figures 2 and 3, a pulley 27 is provided at the bottom of the first mounting portion 28A. The pulley 27 has a plate-like shape and is perpendicular to the vertical direction. A mounting hole 27A is formed in the center of the pulley 27. The mounting hole 27A has a regular hexagonal cross-sectional shape and penetrates in the vertical direction. The protruding body 72B of the cartridge 7, which will be described later, is fitted into the mounting hole 27A. A rotating belt 230 is wound around the side of the pulley 27. The pulley 27 rotates in accordance with the rotation of the rotating belt 230. Hereinafter, the pulley 27 and the rotating belt 230 will be referred to as the "transmission mechanism 29".

[0036] As shown in Figure 2, a jaw through-hole 33 is formed near the front end of the first jaw 3A. The jaw through-hole 33 penetrates the first jaw 3A in the vertical direction. The side surface of the jaw through-hole 33 is formed by the front surface of the cartridge 7 when it is mounted on the mounting portion 28 and the side surface of the second partial mounting portion 32A.

[0037] As shown in Figures 1 and 2, an 11th hole 32B is formed inside the jaw body 20A and behind the first partial mounting portion 28A. The front end of the 11th hole 32B communicates with the first partial mounting portion 28A. The 11th hole 32B extends rearward from the portion communicating with the mounting portion 28 to the rear end of the jaw body 20A. The rear end of the 11th hole 32B is located in front of the front end of the extended portion 21A of the first hole 21 provided inside the body 2A.

[0038] The second jaw 3B extends forward from the front end of the main body 2A and below the first jaw 3A, then bends diagonally upward and forward to extend further. The width of the second jaw 3B in the left-right direction is smaller than the width of the jaw body 20A in the left-right direction and is the same as that of the first jaw 3A.

[0039] The rear end of the second jaw 3B is rotatably supported at the front end of the main body 2A. The seventh axis C7, which extends along the pivot center of the second jaw 3B, extends in the left-right direction. In response to rotation around the seventh axis C7, the second jaw 3B moves between a close position (see Figures 1 and 2) in contact with the front end of the first jaw 3A and a separated position, which is separated downward from the front end of the first jaw 3A. The second jaw 3B moves between the close position and the separated position in response to operation on the fourth operating wire.

[0040] With the second jaw 3B positioned in close proximity, a gap is formed between the portion of the first jaw 3A excluding the contact portion with the second jaw 3B and the portion of the second jaw 3B excluding the contact portion with the first jaw 3A. The ligated body S is held by the first jaw 3A and the second jaw 3B while positioned in this gap. The region in which the ligated body S held by the first jaw 3A and the second jaw 3B is positioned is called the "holding region Sp".

[0041] As shown in Figure 2, a 12th hole 31A is formed within the second jaw 3B. The 12th hole 31A extends diagonally downward and backward from the portion that contacts the first jaw 3A when positioned in close proximity, then bends backward and extends to the rear end of the second jaw 3B.

[0042] A 13th hole 31B is formed within the jaw body 20A and below the pulley 27 of the first partial mounting portion 28A. The 13th hole 31B extends rearward from the front end of the jaw body 20A. The front end of the 13th hole 31B is positioned rearward relative to the rear end of the 12th hole 31A provided in the second jaw 3B. The tongue member 6A, shown in Figure 27 and described later, is positioned in the 12th hole 31A and the 13th hole 31B.

[0043] <Cartridge 7> Cartridge 7 is attached to and detached from the mounting portion 28 of the jaw member 3. As shown in Figure 6, cartridge 7 has a first part body 7A and a second part body 7B.

[0044] The shape of the first portion main body 7A is a rectangular parallelepiped elongated in the front-rear direction. The second portion main body 7B has a rod shape and extends forward from the vicinity of the upper end of the front surface 700F of the first portion main body 7A. The width of the second portion main body 7B in the left-right direction is smaller than the width of the first portion main body 7A in the left-right direction. The width of the second portion main body 7B in the up-down direction is smaller than the width of the first portion main body 7A in the up-down direction. The respective upper surfaces of the first portion main body 7A and the second portion main body 7B are arranged on the same plane. The first portion main body 7A is attached to the first portion attachment part 28A of the attachment part 28 shown in FIG. 1. The second portion main body 7B is attached to the second portion attachment part 32A of the attachment part 28 shown in FIG. 1.

[0045] A protruding part 700P protruding downward is provided in a portion near the front end of the lower surface 700S of the first portion main body 7A. As shown in FIG. 7, a bobbin B is provided on the protruding part 700P. A thread T is wound around the bobbin B. As shown in FIG. 2, the bobbin B is arranged rearward of the holding region Sp where the object to be ligated S is held by the first jaw 3A and the second jaw 3B. The bobbin B is rotatably supported around a third axis C3 extending in the left-right direction.

[0046] As shown in FIG. 10, a fourteenth hole 7H is formed below the bobbin B in the protruding part 700P. The fourteenth hole 7H is arranged between the twelfth hole 31A of the second jaw 3B shown in FIG. 2 and the thirteenth hole 31B of the jaw main body 20A in a state where the cartridge 7 is attached to the attachment part 28 of the jaw member 3. The twelfth hole 31A, the thirteenth hole 31B, and the fourteenth hole 7H are aligned in a straight line in the front-rear direction.

[0047] As shown in FIG. 6, the first portion main body 7A has an accommodation recess 71 extending downward from the upper surface 700U. The cross-sectional shape of the accommodation recess 71 is circular. As shown in FIG. 10 and FIG. 11, the accommodation recess 71 has a recovery part 71A and a first accommodation part 71B having different inner diameters respectively.

[0048] The first accommodating portion 71B is located below the recovery portion 71A. The inner diameter of the first accommodating portion 71B is uniform across the vertical direction. The inner diameter of the first accommodating portion 71B is larger than the inner diameter of the recovery portion 71A. A side surface 70B of the first accommodating portion 71B extends along the vertical direction. A spirally extending groove 711 is formed on the side surface 70B. The groove 711 revolves around an axis extending in the vertical direction passing through the center of the accommodating recess 71. A plurality of inwardly protruding protrusions 710 are formed in a region sandwiched in the vertical direction by the groove 711. The protruding direction of the protrusions 710 is perpendicular to the vertical direction.

[0049] A transmission through-hole 71C communicating with a lower surface 700S of the first partial main body 7A is formed on a bottom surface 70C of the accommodating recess 71.

[0050] A reel member 73 is accommodated in the accommodating recess 71. The reel member 73 extends downward across an upper end portion of the recovery portion 71A and a lower end portion of the first accommodating portion 71B. The reel member 73 is a double spring including a first coil spring 73A and a second coil spring 73B.

[0051] The diameter of each of the first coil spring 73A and the second coil spring 73B is the same. The diameter of each of the first coil spring 73A and the second coil spring 73B is the same across the vertical direction. The respective centers of the first coil spring 73A and the second coil spring 73B coincide at the position of a second axis C2. The second axis C2 extends in the vertical direction. The first coil spring 73A and the second coil spring 73B each include a wire 730. The wires 730 of the first coil spring 73A are arranged at equal intervals in the vertical direction. The wires 730 of the second coil spring 73B are arranged at equal intervals in the vertical direction. The respective wires 730 of the first coil spring 73A and the second coil spring 73B are arranged alternately in the vertical direction. The intervals in the vertical direction between the respective wires 730 of the first coil spring 73A and the second coil spring 73B are uniform. The wire 730 is inclined relative to the extending direction of the second axis C2.

[0052] The diameters of the first coil spring 73A and the second coil spring 73B are the same as the inner diameter of the retrieval section 71A and smaller than the inner diameter of the first housing section 71B. The reel member 73 is in contact with the inner wall 70A that forms the retrieval section 71A. The reel member 73 and the side surface 70B of the first housing section 71B are separated radially around the second axis C2.

[0053] A rotating body 72 is connected to the lower end of the reel member 73. The rotating body 72 has a support plate 72A and a protruding body 72B.

[0054] The support plate 72A is a circular plate oriented perpendicular to the vertical direction. The lower surface of the support plate 72A, near its peripheral edge, contacts the bottom surface 70C of the housing recess 71 from above. The lower end of the reel member 73 is connected to the upper surface of the support plate 72A.

[0055] The protruding body 72B protrudes downward from the lower surface of the support plate 72A. As shown in Figure 9, the shape of the protruding body 72B is a hexagonal prism. The protruding body 72B is inserted through a transmission through-hole 71C provided in the bottom surface 70C of the housing recess 71. As shown in Figure 7, the protruding body 72B protrudes downward from the lower surface 700S of the first part body 7A.

[0056] The rotating body 72 is rotatably supported on the bottom surface 70C of the housing recess 71. The rotating body 72 rotates about a sixth axis C6 that extends in the vertical direction. As shown in Figure 10, the position of the sixth axis C6 coincides with the position of the second axis C2 that passes through the center of the reel member 73.

[0057] The protruding body 72B is fitted into the mounting hole 27A of the pulley 27 shown in Figure 3, with the cartridge 7 mounted on the mounting portion 28 of the jaw member 3 shown in Figure 2. When the pulley 27 rotates in accordance with the rotation of the rotating belt 230, the rotating body 72 rotates around the sixth axis C6. In addition, as the rotating body 72 rotates, the reel member 73 connected to the support plate 72A also rotates around the second axis C2.

[0058] As shown in Figures 6 and 8, the first part of the main body 7A is provided with a first communication hole 76A, a second communication hole 76B, and a third communication hole 76C.

[0059] As shown in Figure 6, the first communication hole 76A extends forward from the rear surface 700B of the first part body 7A and communicates with the receiving recess 71. The first communication hole 76A is a rectangular elongated hole that is long in the vertical direction. A first circular portion 761 with curved sides is provided below the upper end of the first communication hole 76A. The width of the first circular portion 761 in the left-right direction is greater than the width of the portion of the first communication hole 76A excluding the first circular portion 761. As shown in Figure 10, the first circular portion 761 is connected to the inner wall 70A of the recovery portion 71A in the receiving recess 71.

[0060] As shown in Figure 8, the second communication hole 76B extends rearward from the front surface 700F of the first part body 7A and communicates with the receiving recess 71. The second communication hole 76B is a rectangular elongated hole that is long in the vertical direction. A second circular portion 762 with curved sides is provided below the upper end of the second communication hole 76B. The width of the second circular portion 762 in the left-right direction is greater than the width of the portion of the second communication hole 76B excluding the second circular portion 762. As shown in Figure 10, the second circular portion 762 is connected to the inner wall 70A of the recovery portion 71A in the receiving recess 71.

[0061] The first communication hole 76A and the second communication hole 76B are aligned in the front-to-back direction. The first circular portion 761 of the first communication hole 76A and the second circular portion 762 of the second communication hole 76B are aligned in a straight line in the front-to-back direction. As shown in Figure 11, the first communication hole 76A and the second communication hole 76B are positioned to overlap with the second axis C2 and the sixth axis C6 in the front-to-back direction.

[0062] As shown in Figure 6, the third communication hole 76C extends downward from the upper surface 700U of the first part body 7A and communicates with the second communication hole 76B.

[0063] As shown in Figures 10 and 12, a winding thread cutter 77 is provided in front of the reel member 73 and behind the bobbin B. The winding thread cutter 77 has a plate shape and is perpendicular to the front-to-back direction. The winding thread cutter 77 extends from the left end of the first part body 7A to the right. The winding thread cutter 77 overlaps with the reel member 73 in the left-to-right direction. The blade 77A of the winding thread cutter 77 protrudes toward the portion of the housing recess 71 that communicates with the second communication hole 76B. The blade 77A extends in the vertical direction. As shown in Figure 11, the left-to-right position of the blade 77A is located to the left of the second axis C2 and the sixth axis C6.

[0064] As shown in Figures 8 and 9, the second part body 7B has an upper plate 78U, a right plate 78R, and a left plate 78L. The upper plate 78U is perpendicular to the vertical direction. The right plate 78R extends downward from the right end of the upper plate 78U. The left plate 78L extends downward from the left end of the upper plate 78U. A portion of the region 780 enclosed by the upper plate 78U, the right plate 78R, and the left plate 78L overlaps with the first circular portion 761 of the first communication hole 76A and the second circular portion 762 of the second communication hole 76B in the front-rear direction.

[0065] A gripping thread cutter 79 is provided near the front end of the upper plate 78U of the second part of the main body 7B. As shown in Figure 2, with the cartridge 7 mounted on the jaw member 3, the gripping thread cutter 79 is positioned behind the jaw through hole 33 of the first jaw 3A. As shown in Figures 9 and 10, the blade 79A of the gripping thread cutter 79 protrudes toward the region 780 surrounded by the upper plate 78U, the right plate 78R, and the left plate 78L.

[0066] <Gripping body 4> At least a portion of the gripping body 4 is positioned within the main body 2A. The gripping body 4 is movable in the front-rear direction relative to the main body 2A. The gripping body 4 grips the thread T and moves backward, thereby drawing the thread T into the main body 2A. As shown in Figure 13, the gripping body 4 includes a ligation gripping member 4A and a repositioning gripping member 4B. The ligation gripping member 4A and the repositioning gripping member 4B have the same shape. As shown in Figure 14, the ligation gripping member 4A is positioned above the repositioning gripping member 4B. The ligation gripping member 4A is positioned inside the pusher 5, which will be described later.

[0067] As shown in Figure 15, the ligation gripping member 4A has a first rod 41 and a second rod 42. The first rod 41 is cylindrical and extends in the front-rear direction. The second rod 42 is positioned in a through hole in the first rod 41. The second rod 42 is rod-shaped, more specifically cylindrical, and extends in the front-rear direction. As shown in Figure 16, the repositioning gripping member 4B has a first rod 43 and a second rod 44. The first rod 43 and the second rod 44 correspond to the first rod 41 and the second rod 42 of the ligation gripping member 4A shown in Figure 15. Details of the first rods 41 and 43, and the second rods 42 and 44 will be described later.

[0068] The ligation gripping member 4A is movable in the front-rear direction along the extended portion 21A and the first branch portion 21B of the first hole 21 in the main body 2A shown in Figure 2, the 11th hole 32B of the jaw body 20A, and the first circular portion 761 of the first communication hole 76A, the second circular portion 762 of the second communication hole 76B, and the recovery portion 71A of the receiving recess 71 of the cartridge 7 shown in Figure 10.

[0069] The repositioning gripping member 4B is movable in the front-rear direction along the extended portion 21A and the second branch portion 21C of the first hole 21 in the main body 2A shown in Figure 2, the 11th hole 32B of the jaw body 20A, and the first circular portion 761 of the first communication hole 76A, the second circular portion 762 of the second communication hole 76B, and the recovery portion 71A of the housing recess 71 of the cartridge 7 shown in Figure 10. Hereinafter, as shown in Figure 2, the trajectory that the repositioning gripping member 4B traverses when it moves is referred to as the "movement trajectory U".

[0070] As shown in Figure 10, the movement trajectory U intersects with the reel member 73 located in the housing recess 71 of the cartridge 7. The first housing portion 71B of the housing recess 71 of the cartridge 7 is separated downward from the movement trajectory U. The blade 79A of the gripping thread cutter 79 of the cartridge 7 protrudes toward the movement trajectory U.

[0071] <First rods 41, 43, and second rods 42, 44> The first rods 41 and 43 have the same configuration. The second rods 42 and 44 have the same configuration. In the following, the first rod 41 and the second rod 42 will be used as examples for explanation, and the explanation of the first rod 43 and the second rod 44 will be omitted.

[0072] As shown in Figures 18 and 19, the first rod 41 has a cylindrical body 45. The eighth axis C8, which passes through the center of the cylindrical body 45, extends in the front-rear direction.

[0073] A first notch 40 is provided at the front end 45F of the cylindrical body 45. The first notch 40 has a first one-sided notch 461 and a first other-sided notch 462. The first one-sided notch 461 and the first other-sided notch 462 are recesses formed in the front end 45F and extend linearly to the rear. The first one-sided notch 461 and the first other-sided notch 462 face each other in a direction perpendicular to the eighth axis C8. The width of the first one-sided notch 461 and the first other-sided notch 462 at the connection point with the front end 45F widens towards the front. As shown in Figure 18, the thickness of the cylindrical body 45 is denoted as "D1". The thickness D1 is greater than the thickness of the thread T.

[0074] As shown in Figures 20 and 21, the second rod 42 has a cylindrical body 47. The ninth axis C9, which passes through the center of the cylindrical body 47, extends in the front-rear direction. The diameter of the cylindrical body 47 is the same as the inner diameter of the cylindrical bodies 45 of the first rods 41 and 43. A second notch 48 is provided at the front end 47F of the cylindrical body 47. The second notch 48 has a first partial notch 480 and a second partial notch 481.

[0075] The first partial notch 480 is a recess formed in the front end portion 47F and extends linearly to the rear. The first partial notch 480 communicates in a direction perpendicular to the ninth axis C9. The width of the first partial notch 480 at the connection point with the front end portion 47F widens towards the front. The length of the first partial notch 480 in the front-rear direction is equal to the length of the first notch 40 of the first rods 41 and 43 in the front-rear direction.

[0076] As shown in Figures 21 and 22, the second partial notch 481 is provided at the rear end of the first partial notch 480. The second partial notch 481 has one notch 481A and the other notch 481B. The one notch 481A and the other notch 481B face each other in a direction perpendicular to the ninth axis C9. The one notch 481A and the other notch 481B each extend from the rear end of the first partial notch 480 in a clockwise direction when viewed from the front, along the circumferential direction centered on the ninth axis C9.

[0077] As shown in Figure 23, the second rod 42 is positioned inside the first rod 41. The front end 45F of the first rod 41 and the front end 47F of the second rod 42 are located at the same position in the front-rear direction. The eighth axis C8 of the first rod 41 and the ninth axis C9 of the second rod 42 are located at the same position. The second rod 42 is rotatable about the ninth axis C9 relative to the first rod 41.

[0078] The direction in which the first notch 40 of the first rod 41 extends coincides with the direction in which the first partial notch 480 of the second rod 42 extends. On the other hand, the direction in which the first notch 40 of the first rod 41 extends and the direction in which the second partial notch 481 of the second rod 42 extends are perpendicular to each other.

[0079] Figures 24, 25, and 26 show different positional relationships between the first rod 41 and the second rod 42. The state shown in Figure 24 is called the "released state." The state shown in Figure 25 is called the "partially gripped state." The state shown in Figure 26 is called the "fully gripped state."

[0080] In the open state shown in Figure 24, the first notch 40 of the first rod 41 and the first partial notch 480 of the second rod 42 overlap radially around the eighth axis C8 and the ninth axis C9. In the open state, it is possible to insert the thread T into the first notch 40 and the first partial notch 480, and to remove the thread T from the first notch 40 and the first partial notch 480.

[0081] The semi-gripping state shown in Figure 25 represents a state in which the second rod 42 has rotated approximately 45 degrees counterclockwise when viewed from the front, compared to the released state shown in Figure 24. In this state, the first notch 40 of the first rod 41 and a portion of the second partial notch 481 of the second rod 42 overlap radially around the eighth axis C8 and the ninth axis C9. The first partial notch 480 of the second rod 42 is covered by the cylindrical body 45 of the first rod 41.

[0082] After the thread T is inserted into the first notch 40 and the first partial notch 480 in the open state, when the state changes from open to semi-gripping, the thread T is positioned at the bottom of the first notch 40 of the first rod 41 and at the second partial notch 481 of the second rod 42. Since the thread T is covered from the front by a part of the second rod 42, it becomes impossible to detach it from the first rod 41 and the second rod 42. In the semi-gripping state, the cross-sectional area of ​​the region formed by the bottom of the first notch 40 of the first rod 41 and the second partial notch 481 of the second rod 42 is larger than the cross-sectional area of ​​the thread T. Therefore, the thread T is movable relative to the first rod 41 and the second rod 42.

[0083] The fully gripped state shown in Figure 26 represents a state in which the second rod 42 has been rotated approximately 45 degrees counterclockwise when viewed from the front, compared to the partially gripped state shown in Figure 25. In this state, the bottom of the first notch 40 of the first rod 41 and a portion of the tip of the second partial notch 481 of the second rod 42 overlap radially around the eighth axis C8 and the ninth axis C9. The first partial notch 480 of the second rod 42 and the portion of the second partial notch 481 excluding the tip are covered by the cylindrical body 45 of the first rod 41.

[0084] After the thread T is inserted into the first notch 40 and the first partial notch 480 in the open state, when the state changes from the open state to the fully gripped state, the thread T is gripped by the tips of the first notch 40 and the second partial notch 481. As a result, the thread T becomes immobile relative to the first rod 41 and the second rod 42.

[0085] <Pusher 5> The pusher 5 shown in Figure 17 is positioned at least partially within the main body 2A. The pusher 5 is movable in the front-rear direction relative to the main body 2A. By moving forward, the pusher 5 pushes the first loop P1 and the second loop P2 of the yarn T formed in the loop forming section 2B forward from the main body 2A.

[0086] The pusher 5 has a cylindrical shape and extends in the front-rear direction. The ligation gripping member 4A shown in Figure 15 is positioned inside the pusher 5. The positions of the 10th axis C10, which passes through the center of the pusher 5, and the 8th axis C8 and 9th axis C9, which pass through the centers of the ligation gripping member 4A, coincide. The front end 51 of the pusher 5 is inclined with respect to a plane perpendicular to the 10th axis C10.

[0087] The pusher 5 is movable in the front-rear direction along the extended portion 21A and the first branch portion 21B of the first hole 21 in the main body 2A shown in Figure 2, the 11th hole 32B of the jaw body 20A, the first circular portion 761 of the first communication hole 76A, the second circular portion 762 of the second communication hole 76B, and the recovery portion 71A of the receiving recess 71 in the cartridge 7 shown in Figure 10. Furthermore, the pusher 5 is movable relative to the ligation gripping member 4A located inside in the front-rear direction.

[0088] <Tongue Member 6A> The tongue member 6A shown in Figure 27 holds the thread T unfurled from the bobbin B and guides it from the 12th hole 31A of the second jaw 3B of the jaw member 3 shown in Figure 2 toward the jaw through hole 33 of the first jaw 3A. The direction of movement of the tongue member 6A at this time is defined as the "first movement direction Y1". The direction opposite to the first movement direction Y1 is called the "second movement direction Y2". In Figure 27, the upward direction corresponds to the first movement direction Y1, and the downward direction corresponds to the second movement direction Y2. The direction extending along the first movement direction Y1 and the second movement direction Y2 is called the "extension direction Y".

[0089] The tongue member 6A has a plate body 60. The plate body 60 is flexible. The shape of the plate body 60 is a rectangle that is long in the extension direction Y and perpendicular to the vertical direction. The upstream end 60B, which is the upstream end of the plate body 60 in the first movement direction Y1, extends in the left-right direction. The plate body 60 is provided with a round hole 60H and an elongated hole 600H. The round hole 60H is formed near the upstream end 60B of the plate body 60. The elongated hole 600H extends from approximately the center of the plate body 60 in the extension direction Y toward the downstream end 60F, which is the downstream end in the first movement direction Y1. The left end 60L and the right end 60R of the plate body 60 each extend in a direction along the extension direction Y. The left end 60L has a left curved portion 601 at the downstream end 60F. The right end 60R has a right curved portion 602 at the downstream end 60F.

[0090] A first inclined portion 61 and a notch 65A are formed at the downstream end 60F of the plate body 60.

[0091] The first inclined portion 61 extends linearly from the left curved portion 601 at the left end 60L toward the right and upstream in the first movement direction Y1. The right end of the first inclined portion 61 is located to the right of the central position Qc in the left-right direction of the plate body 60. A virtual line Q1 is defined that extends along the first inclined portion 61. The direction in which the virtual line Q1 extends intersects the extension direction Y.

[0092] The first curved section 603 is connected to the right end of the first inclined section 61. The first curved section 603 curves upstream in the first movement direction Y1 from the end connected to the first inclined section 61 toward the opposite end, and then extends while curving further to the left.

[0093] The notch 65A is provided on the downstream end 60F of the plate body 60, upstream of the first inclined portion 61 in the first movement direction Y1. The notch 65A has a second inclined portion 62, a slit 63A, and a hook portion 64.

[0094] The second inclined portion 62 is provided upstream of the first inclined portion 61 in the first movement direction Y1. The second inclined portion 62 extends linearly from the right curved portion 602 at the right end 60R toward the left and upstream in the first movement direction Y1. The left end of the second inclined portion 62 is located near the central position Qc of the plate body 60. The second inclined portion 62 intersects with the imaginary line Q1. An imaginary line Q2 is defined extending along the second inclined portion 62. The direction of extension along the imaginary line Q2 intersects with the extension direction Y and the imaginary line Q1. A part of the second inclined portion 62 faces the first curved portion 603 upstream in the first movement direction Y1. The distance between the second inclined portion 62 and the first curved portion 603 is denoted as "D2". The distance D2 is smaller than the thickness of the thread T.

[0095] The slit 63A is provided upstream of the second inclined portion 62 in the first movement direction Y1. The slit 63A is connected to the upstream end of the second inclined portion 62 in the first movement direction Y1. From the connection point with the second inclined portion 62, the slit 63A extends parallel to the extension direction Y toward the upstream of the first movement direction Y1. The left-right position of the slit 63A coincides with the central position Qc of the plate body 60. In other words, the upstream end of the slit 63A in the first movement direction Y1 coincides with the central position Qc of the plate body 60. The spacing of the slits 63A is denoted as "D3". The spacing D3 is smaller than the thickness of the thread T. The spacing D3 is smaller than the spacing D2.

[0096] The hook portion 64 is connected to the end of the first curved portion 603 opposite to the end that connects to the first inclined portion 61. The hook portion 64 is recessed toward the downstream direction of the first movement Y1. The hook portion 64 is positioned downstream of the slit 63A in the first movement direction Y1. An opening 604 is formed at the upstream end of the hook portion 64 in the first movement direction Y1. The opening 604 opens toward the upstream direction of the first movement direction Y1. The width of the opening 604 is called "D4". The width D4 is greater than the spacing D3 of the slit 63A.

[0097] A first operating wire 99, shown in Figure 30, is connected to the round hole 60H of the tongue member 6A. The tongue member 6A moves in a first movement direction Y1 or a second movement direction Y2 in response to operation on the first operating wire 99. The tongue member 6A is movable along the 13th hole 31B of the jaw body 20A shown in Figure 2, the 14th hole 7H of the cartridge 7 shown in Figure 10, and the 12th hole 31A of the second jaw 3B shown in Figure 2.

[0098] Of the plate body 60, the portion upstream of the notch 65A in the first movement direction Y1 and downstream of the elongated hole 600H in the first movement direction Y1 is called the "first central portion 66A". Of the plate body 60, the portion that overlaps with the elongated hole 600H in the extension direction Y is called the "curved portion 66B". Of the plate body 60, the portion upstream of the curved portion 66B in the first movement direction Y1 is called the "second central portion 66C". The curved portion 66B is located upstream of the first central portion 66A in the first movement direction Y1 and downstream of the second central portion 66C in the first movement direction Y1.

[0099] The width in the left-right direction of the portion of the curved section 66B excluding the elongated hole 600H is smaller than the width in the left-right direction of the first central section 66A and the second central section 66C. Therefore, the bending rigidity of the curved section 66B is smaller than the bending rigidity of the first central section 66A and the second central section 66C.

[0100] When the tongue member 6A moves in the first movement direction Y1 while the second jaw 3B is in a close position, the plate body 60 curves at the first central portion 66A, as shown in Figure 28. The downstream end 60F of the plate body 60 protrudes from the tip of the second jaw 3B shown in Figure 2 and moves toward the jaw through hole 33 of the first jaw 3A. The downstream end 60F of the plate body 60 is inserted through the jaw through hole 33 of the first jaw 3A.

[0101] When the tongue member 6A is moved to its furthest point in the first movement direction Y1, the downstream end 60F of the plate body 60 faces backward. As shown in Figure 28, the part of the plate body 60 that is located furthest forward is called the "upstream end Q3". The upstream end Q3 is located in front of the part of the plate body 60 that is located furthest downstream in the first movement direction Y1, i.e., the downstream end 60F.

[0102] Hereinafter, the position of the tongue member 6A when it has moved the furthest in the first movement direction Y1 will be referred to as the "protruding position". The position of the tongue member 6A when it has moved the furthest in the second movement direction Y2 will be referred to as the "retracted position". When the tongue member 6A is in the retracted position, the plate body 60 extends linearly in the front-rear direction. Also, the downstream end 60F of the plate body 60 is located behind the 14th hole 7H of the cartridge 7.

[0103] <Robot connection part 9> As shown in Figure 1, the robot connection part 9 covers the rear end of the main body 2A. The robot connection part 9 has a cylindrical shape. The main body 2A passes the front end of the side surface 91 of the robot connection part 9 to the rear and extends to the rear end of the side surface 91. The gripping body 4 and the pusher 5 pass through the main body 2A and extend beyond the rear end of the side surface 91.

[0104] The disc Rr of the robot R is connected to the upper end of the robot connection part 9. Multiple robot motors MR built into the robot R are connected to the disc Rr. The rotation axes of the multiple robot motors MR extend inward into the robot connection part 9. The robot R operates the first operating wire 99, the second operating wire, the third operating wire, the fourth operating wire, and the rotating belt 230 by rotating the multiple robot motors MR. Of the multiple robot motors MR, the motor that operates the first operating wire 99 is called the "fourth motor Md" as shown in Figure 31.

[0105] <Drive Unit 90> The drive unit 90 shown in Figure 29 is interposed between the fourth motor Md and the first operating wire 99. The drive unit 90 receives the driving force from the fourth motor Md and moves the tongue member 6A in the first movement direction Y1 or the second movement direction Y2. The drive unit 90 is provided inside the side surface 91 of the robot connection unit 9. The drive unit 90 includes a first gear body 92, a second gear body 93, a third gear body 94, a slider 95, and a first operating wire 99.

[0106] The first gear body 92 is connected to the fourth motor Md. The first gear body 92 includes a shaft mounting portion 92A and a first spur gear 92B. The shaft mounting portion 92A is cylindrical in shape. The shaft mounting portion 92A is attached to a rotating shaft that extends downward from the body of the fourth motor Md. The first spur gear 92B is provided at the lower end of the shaft mounting portion 92A.

[0107] The second gear body 93 is located behind the first gear body 92 in the front-rear direction. The second gear body 93 includes a shaft 93A, a second spur gear 93B, and a first bevel gear 93C. The shaft 93A is rod-shaped and extends in the vertical direction. The second spur gear 93B is located near the upper end of the shaft 93A. The second spur gear 93B meshes with the first spur gear 92B of the first gear body 92. The first bevel gear 93C is located below the vertical center of the shaft 93A.

[0108] The third gear body 94 is located below the first gear body 92 in the vertical direction and in front of the second gear body 93 in the front-rear direction. The third gear body 94 includes a lead screw 94A and a second bevel gear 94B. The lead screw 94A extends in the front-rear direction. The direction in which the lead screw 94A extends is perpendicular to the shaft 93A of the second gear body 93. The second bevel gear 94B is located at the rear end of the lead screw 94A. The second bevel gear 94B meshes with the first bevel gear 93C of the second gear body 93.

[0109] The slider 95 functions as a feed nut that moves in the forward and backward directions in response to the rotation of the feed screw 94A. The slider 95 includes a base 95A and a projection 95B. The base 95A is the main structure of the slider 95. The projection 95B protrudes upward from near the upper and rear ends of the base 95A.

[0110] A screw hole is provided in the base body 95A. The screw hole extends through the base body 95A from the front end to the rear end. The feed screw 94A of the third gear body is inserted through the screw hole in the base body 95A. The teeth on the inner wall of the screw hole engage with the feed screw 94A.

[0111] The first operating wire 99 connects the slider 95 and the tongue member 6A. The first operating wire 99 extends in the front-rear direction. The rear end of the first operating wire 99 is connected to the protruding portion 95B of the slider 95. A connecting end 99A is provided at the front end of the first operating wire 99. The connecting end 99A is bent downward. The connecting end 99A is inserted from above into the round hole 60H of the tongue member 6A.

[0112] As the rotation axis of the fourth motor Md rotates, the first spur gear 92B of the first gear body 92 rotates. As the first spur gear 92B rotates, the second spur gear 93B, shaft 93A, and first bevel gear 93C of the second gear body 93 also rotate. As the first bevel gear 93C rotates, the second bevel gear 94B and lead screw 94A of the third gear body 94 also rotate. As the lead screw 94A rotates, the slider 95 moves in the forward and backward direction. As the slider 95 moves, the tongue member 6A, which is connected via the first operating wire 99, moves in the first movement direction Y1 or the second movement direction Y2.

[0113] <Drive Unit 8> As shown in Figure 1, the drive unit 8 is connected to the rear end of the side surface 91 of the robot connection part 9. The drive unit 8 has a cylindrical case 804. The first drive mechanism 8A, the second drive mechanism 8B, the third drive mechanism 8C shown in Figures 13 to 17, and the first motor Ma1, the first auxiliary motor Ma2, the second motor Mb1, the second auxiliary motor Mb2, the third motor Mc1, and the third auxiliary motor Mc2 shown in Figure 31 are housed inside the case 804.

[0114] The first drive mechanism 8A shown in Figure 15 moves the first rod 41 and the second rod 42 of the ligation gripping member 4A in the front-rear direction and rotates the second rod 42. The second drive mechanism 8B shown in Figure 16 moves the first rod 43 and the second rod 44 of the repositioning gripping member 4B in the front-rear direction and rotates the second rod 44. The third drive mechanism 8C shown in Figure 17 moves the pusher 5 in the front-rear direction and rotates it.

[0115] <First drive mechanism 8A> As shown in Figure 15, the first drive mechanism 8A includes a first screw shaft Xa1, a first auxiliary shaft Xa2, and a first gripping support part 80A, as well as a first motor Ma1 and a first auxiliary motor Ma2 as shown in Figure 31.

[0116] The first screw shaft Xa1 has a rod-like shape with a circular cross-section. A male thread is formed on the side surface of the first screw shaft Xa1. The male thread extends spirally in the front-rear direction. The first screw shaft Xa1 is positioned diagonally downward and to the right of the first auxiliary shaft Xa2 and extends parallel to the first auxiliary shaft Xa2. The first auxiliary shaft Xa2 is a D-cut shaft with a D-shaped cross-section. The first screw shaft Xa1 rotates when driven by the first motor Ma1. The first auxiliary shaft Xa2 rotates when driven by the first auxiliary motor Ma2.

[0117] The first gripping support portion 80A supports the first rod 41 and the second rod 42. The first gripping support portion 80A includes a support base 81A, a first main gear 81B, and a first slave gear 81C.

[0118] The support base 81A supports the first rod 41, the first main gear 81B, and the first slave gear 81C. The support base 81A has a first through hole 811, a second through hole 812, and a third through hole 813. A female thread is formed on the inner surface of the first through hole 811. The female thread extends spirally in the front-rear direction. A first screw shaft Xa1 is inserted through the first through hole 811. The male thread of the first screw shaft Xa1 meshes with the female thread of the first through hole 811. A first auxiliary shaft Xa2 is inserted through the second through hole 812. The rear end of the first rod 41 is connected to the area around the third through hole 813 and to the front surface of the support base 81A.

[0119] The first main gear 81B is a spur gear with teeth provided only in approximately half of its circumferential region. The axis of rotation of the first main gear 81B extends in the front-rear direction. A gear through-hole 81H with a D-shaped cross-section is formed at the center of the first main gear 81B. The second through-hole 812 and the gear through-hole 81H are aligned in a straight line in the front-rear direction. The first auxiliary shaft Xa2 is inserted through the gear through-hole 81H. The first main gear 81B is movable in the front-rear direction relative to the first auxiliary shaft Xa2. The cross-sectional shape of the first auxiliary shaft Xa2 is D-shaped. Therefore, the first main gear 81B rotates in accordance with the rotation of the first auxiliary shaft Xa2.

[0120] The first trailing gear 81C is a spur gear. The axis of rotation of the first trailing gear 81C extends in the front-rear direction. The first trailing gear 81C is located at the rear end of the second rod 42. The second rod 42 extends forward from the first trailing gear 81C. The second rod 42 passes through the third through hole 813 and is inserted into the through hole of the first rod 41. The first trailing gear 81C meshes with the first main gear 81B. The first trailing gear 81C rotates in accordance with the rotation of the first main gear 81B.

[0121] <Explanation of Operation of First Drive Mechanism 8A> When the ligation device 1 moves the first rod 41 and the second rod 42 of the ligation gripping member 4A in the front-rear direction, it drives the first motor Ma1 and rotates the first screw shaft Xa1. The first through hole 811 receives a forward or backward force in response to the rotation of the first screw shaft Xa1 and moves in the front-rear direction. In this case, the support base 81A in which the first through hole 811 is formed moves in the front-rear direction in response to the movement of the first through hole 811. The ligation gripping member 4A moves in the front-rear direction as a single unit, with the first rod 41 and the second rod 42 moving together.

[0122] Furthermore, when the ligation device 1 rotates the second rod 42 relative to the first rod 41 of the ligation gripping member 4A, it drives the first auxiliary motor Ma2 to rotate the first auxiliary shaft Xa2. As the first auxiliary shaft Xa2 rotates, the first main gear 81B and the first slave gear 81C rotate. As the first slave gear 81C rotates, the second rod 42 also rotates. As a result, in the ligation gripping member 4A, the second rod 42 rotates relative to the first rod 41.

[0123] As described above, the first drive mechanism 8A moves the first rod 41 and the second rod 42 of the ligation gripping member 4A together in the front-rear direction in response to the rotation of the first screw shaft Xa1 by the drive of the first motor Ma1. In addition, the first drive mechanism 8A rotates the second rod 42 relative to the first rod 41 in response to the rotation of the first auxiliary shaft Xa2 by the drive of the first auxiliary motor Ma2.

[0124] <Second drive mechanism 8B> As shown in Figure 16, the second drive mechanism 8B includes a second screw shaft Xb1, a second auxiliary shaft Xb2, a second gripping support part 80B, and a second motor Mb1 and a second auxiliary motor Mb2 as shown in Figure 31.

[0125] The second screw shaft Xb1 has a rod-like shape with a circular cross-section. A male thread is formed on the side of the second screw shaft Xb1. The male thread extends spirally in the front-rear direction. The second screw shaft Xb1 is positioned to the right of the second auxiliary shaft Xb2 and extends parallel to the second screw shaft Xb1. The second auxiliary shaft Xb2 is a D-cut shaft with a D-shaped cross-section. The second screw shaft Xb1 rotates when driven by the second motor Mb1. The second auxiliary shaft Xb2 rotates when driven by the second auxiliary motor Mb2.

[0126] The second gripping support section 80B supports the first rod 43 and the second rod 44. The configuration of the second gripping support section 80B is the same as that of the first gripping support section 80A shown in Figure 15.

[0127] The second gripping support portion 80B has a support base 82A, a first main gear 82B, and a first slave gear 82C. The support base 82A, the first main gear 82B, and the first slave gear 82C correspond to the support base 81A, the first main gear 81B, and the first slave gear 81C of the first gripping support portion 80A shown in Figure 15. The first through hole 821, the second through hole 822, and the third through hole 823 formed in the support base 82A correspond to the first through hole 811, the second through hole 812, and the third through hole 813 formed in the support base 81A shown in Figure 15, respectively.

[0128] The second screw shaft Xb1 is inserted through the first through hole 821. The male thread of the second screw shaft Xb1 engages with the female thread of the first through hole 821. The second auxiliary shaft Xb2 is inserted through the second through hole 822. The rear end of the first rod 43 is connected to the area around the third through hole 823 and to the front surface of the support base 82A.

[0129] The second through-hole 822 and the gear through-hole 82H of the first main gear 82B are aligned in a straight line in the front-rear direction. The second auxiliary shaft Xb2 is inserted through the gear through-hole 82H. The first main gear 82B is movable in the front-rear direction relative to the second auxiliary shaft Xb2. The first main gear 82B rotates in accordance with the rotation of the second auxiliary shaft Xb2.

[0130] The first trailing gear 82C is provided at the rear end of the second rod 44. The second rod 44 extends forward from the first trailing gear 82C. The second rod 44 passes through the third through hole 823 and is inserted into the through hole of the first rod 43. The first trailing gear 82C meshes with the first main gear 82B. The first trailing gear 82C rotates in accordance with the rotation of the first main gear 82B.

[0131] <Explanation of the operation of the second drive mechanism 8B> The operation of the second drive mechanism 8B when moving the first rod 43 and the second rod 44 of the repositioning gripping member 4B in the front-rear direction is the same as the operation of the first drive mechanism 8A shown in Figure 15. The second drive mechanism 8B moves the first rod 43 and the second rod 44 of the repositioning gripping member 4B together in the front-rear direction in response to the rotation of the second screw shaft Xb1 by the drive of the second motor Mb1. In addition, the second drive mechanism 8B rotates the second rod 44 relative to the first rod 43 in response to the rotation of the second auxiliary shaft Xb2 by the drive of the second auxiliary motor Mb2.

[0132] <Third drive mechanism 8C> As shown in Figure 17, the third drive mechanism 8C includes a third screw shaft Xc1, a third auxiliary shaft Xc2, a pusher support part 80C, and the third motor Mc1 and third auxiliary motor Mc2 shown in Figure 31.

[0133] The third screw shaft Xc1 has a rod-like shape with a circular cross-section. A male thread is formed on the side of the third screw shaft Xc1. The male thread extends spirally in the front-rear direction. The third screw shaft Xc1 is located diagonally below and to the left of the third auxiliary shaft Xc2 and extends parallel to the third screw shaft Xc1. The third auxiliary shaft Xc2 is a D-cut shaft with a D-shaped cross-section. The third screw shaft Xc1 rotates when driven by the third motor Mc1. The third auxiliary shaft Xc2 rotates when driven by the third auxiliary motor Mc2.

[0134] The pusher support section 80C supports the pusher 5. The configuration of the pusher support section 80C is the same as that of the first gripping support section 80A shown in Figure 15 and the second gripping support section 80B shown in Figure 16.

[0135] The pusher support portion 80C has a support base 83A, a second main gear 83B, and a second slave gear 83C. The support base 83A, the second main gear 83B, and the second slave gear 83C correspond to the support base 81A, the first main gear 81B, and the first slave gear 81C of the first gripping support portion 80A shown in Figure 15. The first through hole 831, the second through hole 832, and the third through hole 833 formed in the support base 83A correspond to the first through hole 811, the second through hole 812, and the third through hole 813 formed in the support base 81A shown in Figure 15, respectively.

[0136] The third screw shaft Xc1 is inserted through the first through hole 831. The male thread of the third screw shaft Xc1 engages with the female thread of the first through hole 831. The third auxiliary shaft Xc2 is inserted through the second through hole 832.

[0137] The second through-hole 832 and the gear through-hole 83H of the second main gear 83B are aligned in a straight line in the front-rear direction. The third auxiliary shaft Xc2 is inserted through the gear through-hole 83H. The second main gear 83B is movable in the front-rear direction relative to the third auxiliary shaft Xc2. The second main gear 83B rotates in accordance with the rotation of the third auxiliary shaft Xc2.

[0138] The second trailing gear 83C is provided at the rear end of the pusher 5. The pusher 5 extends forward from the second trailing gear 83C. The pusher 5 extends forward through the third through hole 833. The second trailing gear 83C meshes with the second main gear 83B. The second trailing gear 83C rotates in accordance with the rotation of the second main gear 83B.

[0139] <Explanation of the operation of the third drive mechanism 8C> The operation of the third drive mechanism 8C when moving the pusher 5 in the forward and backward directions is the same as the operation of the first drive mechanism 8A shown in Figure 15. The third drive mechanism 8C moves the pusher 5 in the forward and backward directions in response to the rotation of the third screw shaft Xc1 by the drive of the third motor Mc1. In addition, the third drive mechanism 8C rotates the pusher 5 in response to the rotation of the third auxiliary shaft Xc2 by the drive of the third auxiliary motor Mc2.

[0140] <Positional relationship of the first drive mechanism 8A, the second drive mechanism 8B, and the third drive mechanism 8C> As shown in Figure 14, the positions of the first gripping support part 80A and the second gripping support part 80B are different from each other in the vertical and horizontal directions. Therefore, when the first gripping support part 80A and the second gripping support part 80B move in the front-rear direction, they do not come into contact with each other. Consequently, the first gripping support part 80A can move forward of the second gripping support part 80B, and the second gripping support part 80B can move forward of the first gripping support part 80A.

[0141] When viewed from the rear, the ligation gripping member 4A and the pusher 5 are arranged coaxially. The eighth axis C8 of the first rod 41, the ninth axis C9 of the second rod 42, and the tenth axis C10 of the pusher 5 are arranged in the same straight line. Parts of the first gripping support portion 80A and the pusher support portion 80C overlap in directions perpendicular to the front-rear direction (up-down and left-right directions). The pusher support portion 80C is positioned in front of the first gripping support portion 80A. Movement of the first gripping support portion 80A in front of the pusher support portion 80C is restricted by the rear surface of the pusher support portion 80C contacting the front surface of the first gripping support portion 80A.

[0142] On the other hand, the positions of the second gripping support portion 80B and the pusher support portion 80C differ from each other in the vertical and horizontal directions. Therefore, when the second gripping support portion 80B and the pusher support portion 80C move in the front-rear direction, they do not come into contact with each other. Consequently, the second gripping support portion 80B can move forward of the pusher support portion 80C, and the pusher support portion 80C can move forward of the second gripping support portion 80B.

[0143] <Electrical Configuration> As shown in Figure 31, the robot R has a controller 96, a memory 97, a motor driver Fr, a plurality of robot motors MR, an encoder Zr, an input unit 98A, and an output unit 98B. The fourth motor Md is included in the plurality of robot motors MR. The ligation device 1 has motor drivers Fa1, Fa2, Fb1, Fb2, Fc1, Fc2, a first motor Ma1, Mb1, a first auxiliary motor Ma2, Mb2, a third motor Mc1, a third auxiliary motor Mc2, and encoders Za1, Za2, Zb1, Zb2, Zc1, Zc2.

[0144] The controller 96 is a CPU (Central Processing Unit) and controls the ligation device 1 to ligate the body to be ligated S with thread T. The controller 96 is electrically connected to the memory 97, motor drivers Fr, Fa1, Fa2, Fb1, Fb2, Fc1, Fc2, encoders Zr, Za1, Za2, Zb1, Zb2, Zc1, Zc2, input unit 98A, and output unit 98B.

[0145] Memory 97 includes volatile and non-volatile storage devices. Memory 97 stores the ligation program executed by the controller 96, as well as various configuration information.

[0146] Motor driver Fr is electrically connected to robot motor MR. Encoder Zr detects the rotational speed of robot motor MR. Motor driver Fa1 is electrically connected to first motor Ma1. Encoder Za1 detects the rotational speed of first motor Ma1. Motor driver Fa2 is electrically connected to first auxiliary motor Ma2. Encoder Za2 detects the rotational speed of first auxiliary motor Ma2. Motor driver Fb1 is electrically connected to second motor Mb1. Encoder Zb1 detects the rotational speed of second motor Mb1. Motor driver Fb2 is electrically connected to second auxiliary motor Mb2. Encoder Zb2 detects the rotational speed of second auxiliary motor Mb2. Motor driver Fc1 is electrically connected to third motor Mc1. Encoder Zc1 detects the rotational speed of third motor Mc1. Motor driver Fc2 is electrically connected to third auxiliary motor Mc2. The encoder Zc2 detects the rotational speed of the third auxiliary motor Mc2.

[0147] The motor driver Fr applies a DC voltage to the robot motor MR in response to a signal received from the controller 96, thereby driving the robot motor MR. The motor driver Fr also obtains the current value of the current flowing through the robot motor MR and the rotational speed of the robot motor MR detected by the encoder Zr, and transmits these to the controller 96.

[0148] Motor driver Fa1 applies a DC voltage to the first motor Ma1 in response to a signal received from controller 96, thereby driving the first motor Ma1. Motor driver Fa1 also acquires the current value of the current flowing through the first motor Ma1 and the rotational speed of the first motor Ma1 detected by encoder Za1, and transmits them to controller 96. Motor driver Fa2 applies a DC voltage to the first auxiliary motor Ma2 in response to a signal received from controller 96, thereby driving the first auxiliary motor Ma2. Motor driver Fa2 also acquires the current value of the current flowing through the first auxiliary motor Ma2 and the rotational speed of the first auxiliary motor Ma2 detected by encoder Za2, and transmits them to controller 96.

[0149] Motor driver Fb1 applies a DC voltage to the second motor Mb1 in response to a signal received from controller 96, thereby driving the second motor Mb1. Motor driver Fb1 also acquires the current value of the current flowing through the second motor Mb1 and the rotational speed of the second motor Mb1 detected by encoder Zb1, and transmits these to controller 96. Motor driver Fb2 applies a DC voltage to the second auxiliary motor Mb2 in response to a signal received from controller 96, thereby driving the second auxiliary motor Mb2. Motor driver Fb2 also acquires the current value of the current flowing through the second auxiliary motor Mb2 and the rotational speed of the second auxiliary motor Mb2 detected by encoder Zb2, and transmits these to controller 96.

[0150] Motor driver Fc1 applies a DC voltage to the third motor Mc1 in response to a signal received from controller 96, thereby driving the third motor Mc1. Motor driver Fc1 also acquires the current value of the current flowing through the third motor Mc1 and the rotational speed of the third motor Mc1 detected by encoder Zc1, and transmits this information to controller 96. Motor driver Fc2 applies a DC voltage to the third auxiliary motor Mc2 in response to a signal received from controller 96, thereby driving the third auxiliary motor Mc2. Motor driver Fc2 also acquires the current value of the current flowing through the third auxiliary motor Mc2 and the rotational speed of the third auxiliary motor Mc2 detected by encoder Zc2, and transmits this information to controller 96.

[0151] The input unit 98A consists of buttons, a touch panel, a keyboard, etc., for inputting various information into the robot R. The output unit 98B is a display that shows various information.

[0152] <Lifting Process> The ligation process, in which the robot R's controller 96 controls the ligation device 1 to tie the body to be ligated S with thread T, will be described. In the following description, when the controller 96 drives the motor by sending a signal to the driver, it is referred to as "the controller 96 drives the motor". As shown in Figure 32, the ligation process is started by the ligation device 1 in its initial state (S11). The initial state is as follows.

[0153] As shown in Figure 36, the second jaw 3B is positioned in close proximity. When the first ligation process is performed after the cartridge 7 is replaced, the tongue member 6A is positioned in a retracted position. The downstream end 60F of the tongue member 6A is positioned behind the 14th hole 7H of the cartridge 7 and in the 13th hole 31B inside the jaw body 20A. At this time, the thread T is not held by the tongue member 6A. On the other hand, when the second or subsequent ligation processes are performed after the cartridge 7 is replaced, the tongue member 6A is positioned in an intermediate position. The intermediate position is the position of the tongue member 6A when the downstream end 60F is positioned inside the 12th hole 31A of the second jaw 3B. At this time, the thread T is captured by the hook portion 64 of the tongue member 6A.

[0154] The ligation gripping member 4A and the pusher 5 are positioned over the extended portion 21A and the first branch portion 21B of the first hole 21, as well as over the first circular portion 761, the recovery portion 71A, the second circular portion 762, and a part of the region 780 of the cartridge 7 shown in Figure 10. The front ends of the ligation gripping member 4A and the pusher 5 are located near the jaw through hole 33. The front end of the ligation gripping member 4A protrudes slightly forward of the front end of the pusher 5. The ligation gripping member 4A is in a released state. The repositioning gripping member 4B is positioned at the second branch portion 21C of the first hole 21. The repositioning gripping member 4B is in a fully gripped state.

[0155] The thread T unwound from the bobbin B passes through the 12th hole 31A of the second jaw 3B, the first circular portion 761, the recovery portion 71A, the second circular portion 762 of the cartridge 7, and the extended portion 21A and the second branching portion 21C of the first hole 21. The tip of the thread T is grasped by the repositioning gripping member 4B in the fully gripped state. The first loop axis 46 and the second loop axis 56 of the loop forming portion 2B are positioned in the third rotation position. The first loop P1 is formed on the first loop axis 46, and the second loop P2 is formed on the second loop axis 56. The ligation gripping member 4A and the pusher 5 are inserted through the first loop P1 and the second loop P2. Figures 36 to 65 show the state in which the first loop P1 and the second loop P2 are detached from the first loop axis 46 and the second loop axis 56 for ease of understanding.

[0156] The main body 2A of the ligation device 1 is positioned behind the body to be ligated S within the body. The controller 96 drives the robot motor MR to operate the fourth operating wire in order to move the second jaw 3B from a close position to a distant position (S13). As shown in Figure 37, the second jaw 3B moves from a close position to a distant position (arrow Y11). The tongue member 6A, positioned in the intermediate position, curves at the curved portion 66B due to the movement of the second jaw 3B.

[0157] More specifically, the following applies: As the second jaw 3B moves from a close position to a separated position, the front end of the second jaw 3B moves downward and away from the front end of the first jaw 3A. The direction in which the 12th hole 31A of the second jaw 3B extends is inclined downward from the rear end toward the front. The tongue member 6A, when inserted through the 12th hole 31A and the 13th hole 31B, curves vertically in the portion located behind the 12th hole 31A and in front of the 13th hole 31B as the second jaw 3B moves up and down.

[0158] Furthermore, the curved portion 66B of the plate body 60 is positioned behind the 12th hole 31A and in front of the 13th hole 31B of the tongue member 6A, which is located in the intermediate position. The position behind the 12th hole 31A and in front of the 13th hole 31B coincides in the vertical direction with the 7th axis C7, which is the rotation center of the second jaw 3B. Therefore, the tongue member 6A curves vertically around the curved portion 66B of the plate body 60 at the position where it coincides vertically with the 7th axis C7 of the second jaw 3B.

[0159] In this state, the main body 2A moves forward toward the body to be ligated S. The body to be ligated S is positioned between the first jaw 3A and the second jaw 3B.

[0160] Next, the controller 96 drives the robot motor MR to operate the fourth operating wire in order to move the second jaw 3B from the separated position to the close position (S15). As shown in Figure 38, the second jaw 3B moves from the separated position to the close position (arrow Y12). The ligated body S is sandwiched between the first jaw 3A and the second jaw 3B and placed in the holding region Sp. The thread T is placed below the ligated body S.

[0161] Next, the controller 96 drives the fourth motor Md to operate the first operating wire 99 in order to move the tongue member 6A to the protruding position in the first movement direction Y1 shown in Figures 27 and 28 (S17).

[0162] Here, when the first ligation process is performed after the replacement of cartridge 7, the tongue member 6A moves from the retracted position to the protruding position. As the tongue member 6A moves, the first inclined portion 61 of the tongue member 6A shown in Figure 27 comes into contact with the portion of the thread T that extends between the bobbin B and the object to be ligated S. As shown in Figure 27, the thread T is guided upstream in the first movement direction Y1 along the first inclined portion 61. The thread T moves away from the first inclined portion 61 and then comes into contact with the second inclined portion 62. The thread T is guided upstream in the first movement direction Y1 along the first inclined portion 61. The thread T enters the slit 63A connected to the second inclined portion 62 and is gripped and engaged from both the left and right sides by the slit 63A.

[0163] On the other hand, when the ligation process is performed for the second time or later after the cartridge 7 has been replaced, the tongue member 6A moves from the intermediate position to the protruding position. At this time, the thread T, which is caught in the hook portion 64 of the tongue member 6A, moves upstream in the first movement direction Y1 as the tongue member 6A moves and enters the slit 63A. The thread T is then held between the left and right sides by the slit 63A.

[0164] The tongue member 6A, while holding the thread T, moves further in the first movement direction Y1 toward the protruding position. As shown in Figure 39, the downstream end 60F of the tongue member 6A is inserted into the jaw through-hole 33 of the first jaw 3A and protrudes upward (arrow Y13). The downstream end 60F of the tongue member 6A faces forward toward the ligation gripping member 4A. The tongue member 6A lifts the thread T held by the slit 63A upward. At this time, the portion of the thread T that extends between the tongue member 6A and the body to be ligated S enters the interior of the first notch 40 and the first partial notch 480 of the ligation gripping member 4A in the open state shown in Figure 24.

[0165] Next, the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligation gripping member 4A from a released state to a semi-gripping state (S19). As shown in Figure 40, the second rod 42 of the ligation gripping member 4A rotates relative to the first rod 41 (arrow Y14), and the ligation gripping member 4A enters a semi-gripping state. The portion of the thread T that extends between the tongue member 6A and the body to be ligated S is movably held by the first rod 41 and the second rod 42 of the ligation gripping member 4A in the semi-gripping state.

[0166] Next, the controller 96 drives the fourth motor Md to operate the first operating wire 99 in order to move the tongue member 6A from the protruding position to the intermediate position (S21). As shown in Figure 41, the tongue member 6A moves to the intermediate position in the second movement direction Y2 (arrow Y15). At this time, the thread T comes out of the slit 63A. The thread T enters the hook portion 64 located upstream of the slit 63A in the second movement direction Y2, in other words, downstream of the first movement direction Y1, and is captured by the hook portion 64. Therefore, even though the thread T comes out of the slit 63A, it does not come out of the tongue member 6A.

[0167] Next, the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligation gripping member 4A and the pusher 5 backward (S23). As shown in Figure 41, the ligation gripping member 4A and the pusher 5 move backward (arrow Y16). The front ends of the ligation gripping member 4A and the pusher 5 are positioned behind the cartridge 7 and in front of the loop forming section 2B. The ligation gripping member 4A is in a semi-gripping state, and the thread T is movable relative to the first rod 41 and the second rod 42. Therefore, in response to the backward movement of the ligation gripping member 4A, the thread T is fed out from the bobbin B. The thread T is wound around the object to be ligated S.

[0168] Next, the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligation gripping member 4A to move it from a partially gripped state to a fully gripped state (S25). As shown in Figure 42, the second rod 42 of the ligation gripping member 4A rotates relative to the first rod 41 (arrow Y17), and the ligation gripping member 4A enters a fully gripped state. The portion of the thread T that has been fed out from the bobbin B is held immovably by the first rod 41 and the second rod 42 of the ligation gripping member 4A, which is now in a fully gripped state.

[0169] Next, the controller 96 drives the fourth motor Md to operate the first operating wire 99 in order to move the tongue member 6A from the intermediate position to the protruding position (S27). As the tongue member 6A moves, the portion of the thread T that extends between the bobbin B and the ligation gripping member 4A moves from the hook portion 64 of the tongue member 6A toward the slit 63A and is gripped by the slit 63A. With the thread T gripped, the tongue member 6A moves further toward the protruding position.

[0170] As shown in Figure 43, the downstream end 60F of the tongue member 6A is inserted through the jaw through-hole 33 of the first jaw 3A and protrudes upward (arrow Y18). The thread T is held by the slit 63A. The tongue member 6A lifts the thread T held by the slit 63A upward. At this time, the portion of the thread T that extends between the tongue member 6A and the ligation gripping member 4A is pressed from below by the blade 79A of the gripping thread cutter 79 of the cartridge 7. The ligation gripping member 4A is in a fully gripped state, and the thread T is immobile relative to the first rod 41 and the second rod 42. Also, since the thread T is held by the slit 63A of the tongue member 6A, the thread T is immobile relative to the tongue member 6A. For this reason, the portion of the thread that extends between the tongue member 6A and the ligation gripping member 4A is cut by the gripping thread cutter 79 (S27).

[0171] Furthermore, as the thread T is pressed against the blade 79A of the gripping thread cutter 79 from below, the thread T is guided toward the upstream end of the slit 63A in the first movement direction Y1. This makes it difficult for the thread T to come off the slit 63A.

[0172] Of the thread T, the thread T1 that has been cut and separated from the bobbin B side is held at the first end ta on one side by the repositioning gripping member 4B. The thread T1 extends forward from the first end ta, winds around the object to be tied S and extends backward, bends at the portion held by the tying gripping member 4A and extends forward, reaching the second end tb on the other side. The thread T1 is wound around the object to be tied S.

[0173] Next, the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligation gripping member 4A to change it from a fully gripped state to a partially gripped state (S29). As shown in Figure 43, the second rod 42 of the ligation gripping member 4A rotates relative to the first rod 41 (arrow Y19), and the ligation gripping member 4A enters a partially gripped state. The portion of the thread T1 that extends between the second end tb cut in step S27 and the portion wrapped around the body to be ligated S is held by the first rod 41 and the second rod 42 of the ligation gripping member 4A in the partially gripped state.

[0174] Next, the controller 96 drives the fourth motor Md to operate the first operating wire 99 in order to move the tongue member 6A from the protruding position to the intermediate position (S31). As shown in Figure 44, the tongue member 6A moves to the intermediate position in the second movement direction Y2 (arrow Y20). The thread T is maintained engaged with the slit 63A.

[0175] Next, the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligation gripping member 4A and the pusher 5 backward (S33). As shown in Figure 44, the ligation gripping member 4A and the pusher 5 move backward (arrow Y21). The front ends of the ligation gripping member 4A and the pusher 5 move to the rear of the loop forming section 2B. The ligation gripping member 4A is in a semi-gripping state, and the thread T1 is movable relative to the first rod 41 and the second rod 42. Therefore, in the process of the ligation gripping member 4A and the pusher 5 moving backward, the second end tb of the thread T1 passes behind the first loop P1 and the second loop P2 and moves to a position close to the first rod 41 and the second rod 42 of the ligation gripping member 4A.

[0176] Next, the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligation gripping member 4A to move it from a partially gripped state to a fully gripped state (S35). As shown in Figure 45, the second rod 42 of the ligation gripping member 4A rotates relative to the first rod 41 (arrow Y22), and the ligation gripping member 4A enters a fully gripped state. The vicinity of the second end tb of the thread T1 is held by the first rod 41 and the second rod 42 of the ligation gripping member 4A, which is now in a fully gripped state.

[0177] Next, the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligation gripping member 4A and the pusher 5 slightly forward (S37). As shown in Figure 46, the ligation gripping member 4A and the pusher 5 move slightly forward (arrow Y23). The front ends of the ligation gripping member 4A and the pusher 5 approach the loop forming section 2B from the rear. This loosens the tension between the portion of the thread T1 that is wrapped around the object to be ligated S and the second end tb.

[0178] Next, the controller 96 drives the robot motor MR to operate the third operating wire in order to drive the loop forming section 2B (S39). As shown in Figure 47, the first loop axis 46 and the second loop axis 56 rotate 360 ​​degrees from the third rotation position in the first rotation direction R1. The first loop P1 detaches from the first loop axis 46, and the second loop P2 detaches from the second loop axis 56.

[0179] Next, as shown in Figure 33, the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligation gripping member 4A and the pusher 5 forward (S41). As shown in Figure 48, the ligation gripping member 4A and the pusher 5 move forward (arrow Y24). The front ends of the ligation gripping member 4A and the pusher 5 move to the vicinity of the body to be ligated S. At this time, the pusher 5 moves the first loop P1 and the second loop P2 to the vicinity of the body to be ligated S. Figure 49 shows the first loop P1 and the second loop P2 positioned near the body to be ligated S.

[0180] Furthermore, the controller 96 drives the second motor Mb1 to move the repositioning gripping member 4B backward (S43). As shown in Figure 48, the repositioning gripping member 4B moves backward (arrow Y25). This suppresses the slack in the thread T1 that occurs when the first loop P1 and the second loop P2 move. Next, the controller 96 performs a tightening process to tighten the first loop P1 and the second loop P2 (S45).

[0181] Referring to Figure 34, the tightening process will be explained. The controller 96 drives the second motor Mb1 to move the repositioning gripping member 4B backward (S101). The controller 96 receives and acquires the current value flowing to the second motor Mb1 in response to the drive of the second motor Mb1 by the motor driver Fb1 (S103).

[0182] The controller 96 determines whether the acquired current value is less than or equal to a predetermined threshold Th0 (S105). If the current value flowing through the second motor Mb1 is greater than the predetermined threshold Th0 (S105: YES), there is a high possibility that some kind of abnormality has occurred in the ligation device 1. For this reason, if the controller 96 determines that the acquired current value is greater than the predetermined threshold Th0 (S105: NO), it displays a screen notifying the occurrence of an error on the output unit 98B (S107). The controller 96 then terminates the tightening process and the ligation process.

[0183] If the controller 96 determines that the acquired current value is less than or equal to a predetermined threshold Th0 (S105: YES), it drives the second motor Mb1 to continue moving the repositioning gripping member 4B backward (S109). The vicinity of the second end tb of the thread T1 is held by the first rod 41 and the second rod 42 of the ligation gripping member 4A, which is in a fully gripped state. The repositioning gripping member 4B is also in a fully gripped state, and the first end ta of the thread T1 is held by the first rod 43 and the second rod 44. As a result, when the repositioning gripping member 4B moves backward, the thread T1 is pulled, and the first loop P1 and the second loop P2 are tightened.

[0184] The controller 96 selects a condition for determining whether or not to stop the rearward movement of the repositioning gripping member 4B, which was started in S109, based on the setting information stored in the memory 97 (S111). The setting information is stored in the memory 97 after being input in advance by the user via the input unit 98A of the robot R. The selectable condition is one of the following condition G1 to G8. The details of condition G1 to G8 are as follows.

[0185] The first graph in Figure 35 shows the change in the current value flowing through the second motor Mb1 over time as the repositioning gripping member 4B moves backward. As shown, the current value increases as time passes while the repositioning gripping member 4B moves. The current value flowing through the second motor Mb1 is correlated with the magnitude of the force exerted when the repositioning gripping member 4B moves backward and pulls the thread T1. In other words, as the tightening of the first loop P1 and the second loop P2 gradually increases due to the movement of the repositioning gripping member 4B, the force exerted by the repositioning gripping member 4B when pulling the thread T1 also gradually increases. Therefore, the vertical axis of the first graph can be replaced with the force exerted by the repositioning gripping member 4B when pulling the thread T1. In the following explanation, the vertical axis of the first graph will be replaced with force.

[0186] The force change trend includes the initial state H1, the intermediate state H2, and the final state H3. In the initial state H1, the force increases at a constant rate. In the intermediate state H2, the rate of force increase. In the final state H3, the force increases at a constant rate. Note that the rate of force increase in the final state H3 is greater than the rate of force increase in the initial state H1.

[0187] The second graph in Figure 35 shows the time course of the first derivative, which is the value obtained by first differentiating the time change of force in the first graph. The first state H11, second state H12, and third state H13 in the second graph correspond to the initial state H1, intermediate state H2, and final state H3 in the first graph, respectively. The third graph in Figure 35 shows the time course of the second derivative, which is the value obtained by second differentiating the time change of force in the first graph. The fourth state H21, fifth state H22, and sixth state H23 in the third graph correspond to the initial state H1, intermediate state H2, and final state H3 in the first graph, respectively.

[0188] For judgment conditions G1 to G3, the determination is made based on the first derivative obtained by differentiating the time change of the force once. For judgment conditions G4 to G8, the determination is made based on the second derivative obtained by differentiating the time change of the force twice.

[0189] In the determination condition G1, if the state changes from the first state H11 to the second state H12, it is determined that the rearward movement of the repositioning gripping member 4B should be stopped. More specifically, the controller 96 determines that the state has changed from the first state H11 to the second state H12 when the state changes from one in which the first differential value is within a predetermined first percentage W1 (%) relative to the moving average value of the first differential value, to one in which the first differential value is within a range greater than the first percentage W1 (%). If the controller 96 determines that the state has changed from the first state H11 to the second state H12, it determines that the rearward movement of the repositioning gripping member 4B should be stopped.

[0190] In the determination condition G2, if, after changing from the first state H11 to the second state H12, the first derivative value becomes greater than or equal to a predetermined first threshold Th1 relative to the value statistically derived from the first derivative value in the first state H11, it is determined that the rearward movement of the repositioning gripping member 4B should be stopped. More specifically, the controller 96 determines that, after changing to the second state H12, if the first derivative value becomes greater than or equal to a first threshold Th1 relative to the moving average value of the first derivative value in the first state H11, it should be stopped that way.

[0191] In the determination condition G3, if the state changes from the second state H12 to the third state H13, it is determined that the rearward movement of the repositioning gripping member 4B should be stopped. More specifically, the controller 96 determines that the state has changed from the second state H12 to the third state H13 if, after changing to the second state H12, the first derivative value changes within a range of the first percentage W1 (%) relative to the moving average value of the first derivative value. If the controller 96 determines that the state has changed from the second state H12 to the third state H13, it determines that the rearward movement of the repositioning gripping member 4B should be stopped.

[0192] In the determination condition G4, if the state changes from the fourth state H21 to the fifth state H22, it is determined that the rearward movement of the repositioning gripping member 4B should be stopped. More specifically, the controller 96 determines that the state has changed from the fourth state H21 to the fifth state H22 when the second derivative value changes from a state in which it fluctuates within a predetermined second percentage W2 (%) relative to the moving average value of the second derivative value to a state in which it fluctuates within a range greater than the second percentage W2 (%). If the controller 96 determines that the state has changed from the fourth state H21 to the fifth state H22, it determines that the rearward movement of the repositioning gripping member 4B should be stopped.

[0193] In the determination condition G5, if, after changing from the fourth state H21 to the fifth state H22, the second derivative value becomes greater than or equal to a predetermined second threshold Th2 relative to the value statistically derived from the second derivative value in the fourth state H21, it is determined that the rearward movement of the repositioning gripping member 4B should be stopped. More specifically, the controller 96 determines that, after changing to the fifth state H22, if the second derivative value becomes greater than or equal to a second threshold Th2 relative to the moving average value of the second derivative value in the fourth state H21, it should be stopped that way.

[0194] In the determination condition G6, if the second derivative value reaches a maximum after changing from the fourth state H21 to the fifth state H22, it is determined that the rearward movement of the repositioning gripping member 4B should be stopped. More specifically, after changing to the fifth state H22, the controller 96 detects the point where the derivative of the second derivative value becomes 0 as the maximum point. When the controller 96 detects the maximum point, it determines that the rearward movement of the repositioning gripping member 4B should be stopped.

[0195] In the determination condition G7, if, after changing from the fourth state H21 to the fifth state H22, the second derivative value becomes smaller than or equal to a predetermined third threshold Th3 relative to the maximum value of the local maximum, it is determined that the rearward movement of the repositioning gripping member 4B should be stopped. More specifically, if the controller 96 detects a local maximum after changing to the fifth state H22, it identifies the maximum value of the local maximum. If the second derivative value becomes smaller than or equal to the identified local maximum by a third threshold Th3, the controller 96 determines that the rearward movement of the repositioning gripping member 4B should be stopped.

[0196] In the determination condition G8, if the state changes from the fifth state H22 to the sixth state H23, it is determined that the rearward movement of the repositioning gripping member 4B should be stopped. More specifically, the controller 96 determines that the state has changed from the fifth state H22 to the sixth state H23 if, after changing to the fifth state H22, the second derivative value changes within a range of the second percentage W2 (%) relative to the moving average value of the second derivative value. If the controller 96 determines that the state has changed from the fifth state H22 to the sixth state H23, it determines that the rearward movement of the repositioning gripping member 4B should be stopped.

[0197] As shown in Figure 34, after selecting one of the determination conditions G1 to G9 in S111, the controller 96 receives and acquires the current value flowing to the second motor Mb1 in response to the drive of the second motor Mb1 by the motor driver Fb1 (S113). Based on the acquired current value, the controller 96 determines whether or not to stop the rearward movement of the repositioning gripping member 4B according to one of the determination conditions G1 to G9 selected in S111 (S115). If the controller 96 determines not to stop the rearward movement of the repositioning gripping member 4B (S115: NO), it returns to process S113 and repeats the process. In this case, as shown in Figure 48, the repositioning gripping member 4B moves rearward (arrow Y25). As a result, the first loop P1 and the second loop P2 are tightened.

[0198] If the controller 96 determines that it is necessary to stop the rearward movement of the repositioning gripping member 4B (S115: YES), it stops driving the second motor Mb1 in order to stop the movement of the repositioning gripping member 4B (S117).

[0199] As shown in Figure 33, the controller 96 then drives the first motor Ma1 to move the ligation gripping member 4A backward (S47). As shown in Figure 50, the ligation gripping member 4A moves backward (arrow Y26). The controller 96 also drives the second motor Mb1 to move the repositioning gripping member 4B forward (S47). As shown in Figure 50, the repositioning gripping member 4B moves forward (arrow Y27).

[0200] The movement of the ligation gripping member 4A and the repositioning gripping member 4B extends the first loop P1 shown in Figure 49. As shown in Figure 51, a new first loop P11 is formed in the portion of the thread T1 between the second loop P2 and the first end ta. This forms a knot K of a square knot, and the object to be ligated S is ligated by the thread T1.

[0201] Next, the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligation gripping member 4A to release it from the fully gripped state (S49). As shown in Figure 52, the second rod 42 of the ligation gripping member 4A rotates relative to the first rod 41 (arrow Y28), and the ligation gripping member 4A is released. The vicinity of the second end tb of the thread T1 is released from the first rod 41 and the second rod 42 of the ligation gripping member 4A.

[0202] Next, the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligation gripping member 4A and the pusher 5 backward (S51). As shown in Figure 53, the ligation gripping member 4A and the pusher 5 move backward (arrow Y29). The ligation gripping member 4A and the pusher 5 are positioned in the first branch portion 21B of the first hole 21.

[0203] Next, the controller 96 drives the robot motor MR to rotate the rotating belt 230 in order to cut the portion of the thread T1 from the part wrapped around the body to be tied S to the first end ta and store it in the first housing portion 71B of the cartridge 7 (S53). The pulley 27 of the transmission mechanism 29 provided on the first mounting portion 28A of the jaw body 20A rotates in accordance with the rotation of the rotating belt 230. Accordingly, as shown in Figure 54, the rotating body 72 of the cartridge 7 mounted in the mounting hole 27A of the pulley 27 also rotates, and the reel member 73 connected to the rotating body 72 rotates (arrow Y30).

[0204] As shown in Figure 55, the thread T1 in contact with the reel member 73 is guided along the respective strands 730 of the first coil spring 73A and the second coil spring 73B. As a result, the thread T1 moves from the recovery section 71A to the first storage section 71B of the storage recess 71 of the cartridge 7. The thread T1 moves downward away from the movement trajectory U of the repositioning gripping member 4B.

[0205] As the thread T1 moves from the retrieval section 71A toward the first storage section 71B within the storage recess 71, the first end ta of the thread T1 is pulled forward. In response, the controller 96 drives the second motor Mb1 to move the repositioning gripping member 4B forward (S55). As shown in Figure 54, the repositioning gripping member 4B, which holds the first end ta of the thread T1, moves forward (arrow Y31).

[0206] Even after the thread T1 has moved to the lower end of the reel member 73, the reel member 73 continues to rotate. In this case, as shown in Figure 56, the thread T1 is wound around the lower end of the reel member 73. At the stage when the winding of the thread T1 around the reel member 73 begins, the portion of the thread T1 that extends from the part wound around the object to be knotted S toward the reel member 73 moves to the left from the center of the cartridge 7 in the left-right direction. The thread T1 comes into contact with the winding thread cutter 77 of the cartridge 7 and is cut by the blade 77A (S57). The winding thread cutter 77 separates the portion of the thread T1 that extends from the knot K toward the first end ta from the knot K. Hereinafter, the portion of the thread T1 that has been separated from the knot K will be referred to as thread T11.

[0207] After the thread T1 is cut by the winding thread cutter 77 of the cartridge 7, the controller 96 drives the second auxiliary motor Mb2 to rotate the second rod 44 of the repositioning gripping member 4B to release it from the fully gripped state (S59). As shown in Figure 57, the second rod 44 of the repositioning gripping member 4B rotates relative to the first rod 43 (arrow Y32), and the repositioning gripping member 4B is released. The vicinity of the first end ta of the thread T11 is released from the first rod 43 and the second rod 44 of the repositioning gripping member 4B.

[0208] The controller 96 continues to rotate the pulley 27 of the jaw body 20A and the reel member 73 of the cartridge 7 (arrow Y33). As a result, the thread T11 is completely wound onto the reel member 73 (S61). The wound thread T11 is then stored in the first storage section 71B of the storage recess 71. The volume of the first storage section 71B is adjusted to be at least twice the total volume of the thread T11 wound onto the reel member 73 through the above process, and less than or equal to the total volume of the thread T wound on the bobbin B in its uncompressed state.

[0209] Next, the controller 96 drives the robot motor MR to operate the third control wire in order to rotate the first loop axis 46 and the second loop axis 56 (S63). As shown in Figure 58, the first loop axis 46 and the second loop axis 56 rotate 180 degrees in the second rotation direction R2 from the third rotation position toward the first rotation position.

[0210] Next, the controller 96 drives the robot motor MR to operate the fourth operating wire in order to move the second jaw 3B from the proximity position to the distance position (S65). As shown in Figure 58, the second jaw 3B moves from the proximity position to the distance position (arrow Y34). The tongue member 6A, positioned in the intermediate position, bends at the curved portion 66B due to the movement of the second jaw 3B. The ligated body S, which is ligated by the thread T1, is removed from the jaw member 3.

[0211] Next, the controller 96 drives the robot motor MR to operate the fourth control wire in order to move the second jaw 3B from the separated position to the close position (S67). As shown in Figure 58, the second jaw 3B moves from the separated position to the close position (arrow Y35).

[0212] <Repositioning Process> After the ligation process has taken place and the body to be ligated S has been ligated with thread T, the repositioning process, which returns the ligation device 1 to its initial state, will be described.

[0213] As shown in Figure 59, the controller 96 drives the second motor Mb1 to move the repositioning gripping member 4B forward (S71). As shown in Figure 60, the repositioning gripping member 4B moves forward (arrow Y51). The repositioning gripping member 4B is positioned over the extended portion 21A and the second branch portion 21C of the first hole 21, as well as the first circular portion 761, the recovery portion 71A, the second circular portion 762, and a part of the region 780 of the cartridge 7 shown in Figure 10. The front end of the repositioning gripping member 4B reaches the vicinity of the jaw through hole 33 of the first jaw 3A.

[0214] Next, the controller 96 drives the fourth motor Md to operate the first operating wire 99 in order to move the tongue member 6A from the intermediate position to the protruding position (S73). The tongue member 6A moves in the first movement direction Y1 with the thread T engaged in the slit 63A.

[0215] With the thread T engaged in the slit 63A, the tongue member 6A moves further in the first movement direction Y1 toward the protruding position. As shown in Figure 61, the downstream end 60F of the tongue member 6A is inserted into the jaw through-hole 33 of the first jaw 3A and protrudes upward (arrow Y53). The tongue member 6A lifts the thread T engaged in the slit 63A upward. At this time, the tip of the thread T enters the interior of the first notch 40 and the first partial notch 480 of the repositioning gripping member 4B in the released state. The downstream end 60F of the tongue member 6A faces forward relative to the repositioning gripping member 4B.

[0216] Next, the controller 96 drives the second auxiliary motor Mb2 to rotate the second rod 44 of the repositioning gripping member 4B from the released state to the fully gripped state (S75). As shown in Figure 61, the second rod 44 of the repositioning gripping member 4B rotates relative to the first rod 43 (arrow Y54), and the repositioning gripping member 4B enters the fully gripped state. The tip of the thread T is held immovably by the first rod 43 and the second rod 44 of the repositioning gripping member 4B, which is now in the fully gripped state.

[0217] Next, the controller 96 drives the fourth motor Md to operate the first operating wire 99 in order to move the tongue member 6A from the protruding position to the intermediate position (S77). As shown in Figure 62, the tongue member 6A moves to the intermediate position in the second movement direction Y2 (arrow Y55). The thread T comes out of the slit 63A and is caught by the hook portion 64.

[0218] Next, the controller 96 drives the second motor Mb1 to move the repositioning gripping member 4B backward (S79). As shown in Figure 63, the repositioning gripping member 4B moves backward (arrow Y56). The front end of the repositioning gripping member 4B is positioned behind the loop forming section 2B. The repositioning gripping member 4B is in a fully gripped state, and the thread T cannot move relative to the first rod 43 and the second rod 44. Therefore, the thread T is fed out from the bobbin B in response to the backward movement of the repositioning gripping member 4B.

[0219] Next, the controller 96 drives the robot motor MR to drive the loop forming section 2B and operates the third operating wire (S81). As shown in Figure 64, the first loop axis 46 and the second loop axis 56 rotate 90 degrees in the first rotation direction R1 from the first rotation position to the second rotation position. This moves the thread T positioned along the second groove 460A to the fourth groove 460B and the fifth groove 460C, and moves the thread T positioned along the third groove 560A to the sixth groove 560B and the seventh groove 560C.

[0220] Next, the controller 96 drives the second motor Mb1 to move the repositioning gripping member 4B backward (S83). As shown in Figure 65, the repositioning gripping member 4B moves backward (arrow Y57). The front end of the repositioning gripping member 4B reaches the second branch portion 21C of the first hole 21.

[0221] Next, the controller 96 drives the second motor Mb1 to move the repositioning gripping member 4B forward (S85). The repositioning gripping member 4B moves slightly forward (arrow Y58). The controller 96 also drives the robot motor MR to drive the loop forming section 2B and operates the third operating wire (S87). As shown in Figure 65, the first loop axis 46 and the second loop axis 56 rotate 270 degrees in the second rotation direction R2 from the second rotation position to the third rotation position. As a result, as shown in Figure 66, the first loop P1 is formed on the first loop axis 46 and the second loop P2 is formed on the second loop axis 56.

[0222] Next, the controller 96 drives the third motor Mc1 to move the pusher 5 forward (S89). The front end of the pusher 5 protrudes forward of the ligation gripping member 4A. Next, the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligation gripping member 4A and the pusher 5 forward (S91). As shown in Figure 66, the ligation gripping member 4A and the pusher 5 pass through the first loop P1 formed on the first loop axis 46 of the loop forming section 2B, and the second loop P2 formed on the second loop axis 56.

[0223] Furthermore, the controller 96 drives the third auxiliary motor Mc2 to rotate the pusher 5 alternately each time the front end of the pusher 5 passes over the thread T forming the first loop P1 and the second loop P2 (S93). As shown in Figure 66, the pusher 5 rotates alternately 180 degrees to one side and the other side around the tenth axis C10 (arrow Y60). As a result, the pusher 5 moves forward without getting caught on the first loop P1 and the second loop P2. The ligation gripping member 4A and the front end of the pusher 5 reach the vicinity of the front end of the main body 2A after passing over the first loop P1 and the second loop P2. With the above, the ligation device 1 returns to its initial state.

[0224] <Operation and Effects of this Embodiment> A notch 65A is formed in the downstream end 60F of the tongue member 6A, through which the thread T is inserted and engaged. The notch 65A includes a slit 63A. The ligating device 1 can guide the thread T toward the vicinity of the object to be ligated S by engaging the thread T with the slit 63A of the tongue member 6A and moving in the first movement direction Y1. The spacing D3 of the slit 63A is smaller than the thickness of the thread T. Therefore, the ligating device 1 can properly hold the thread T with the tongue member 6A and guide the thread T toward the vicinity of the object to be ligated S.

[0225] The downstream end 60F of the tongue member 6A has a first inclined portion 61. The first inclined portion 61 is positioned downstream of the notch 65A in the first movement direction Y1. The direction in which the first inclined portion 61 extends intersects with the first movement direction Y1. By moving the tongue member 6A in the first movement direction Y1, the ligating device 1 moves the thread T along the first inclined portion 61 and guides it into the slit 63A of the notch 65A, and the ligating device 1 can hold the thread T by clamping it with the slit 63A. The spacing D3 of the slits 63A is smaller than the thickness of the thread T. Therefore, the ligating device 1 can stably hold and guide the thread T with the slits 63A.

[0226] The notch 65A includes a second inclined portion 62. The second inclined portion 62 is located upstream of the first inclined portion 61 and downstream of the slit 63A in the first movement direction Y1. The direction in which the second inclined portion 62 extends intersects the first movement direction Y1 and the direction in which the first inclined portion 61 extends. A virtual line Q1 extending along the first inclined portion 61 intersects with the second inclined portion 62. The ligating device 1 can guide the thread T into the slit 63A by moving the thread T to the first inclined portion 61 and the second inclined portion 62.

[0227] For example, in the process shown in Figure 39, the portion of the thread T that extends between the tongue member 6A and the body to be ligated S is held at the upstream end of the slit 63A in the first movement direction Y1. Also, the first notch 40 and the first partial notch 480 of the ligation gripping member 4A are positioned in the center in the left-right direction. Here, in order for the tongue member 6A to properly transfer the thread T to the first notch 40 and the first partial notch 480 of the ligation gripping member 4A, it is preferable that the tongue member 6A holds the thread T in the center in the left-right direction.

[0228] In contrast, the upstream end of the slit 63A in the first movement direction Y1 is positioned at the central position Qc of the tongue member 6A in the left-right direction perpendicular to the first movement direction Y1. Therefore, the thread T held by the upstream end of the slit 63A in the first movement direction Y1 is located in the center in the left-right direction. In this case, when the tongue member 6A passes the thread T to the ligation gripping member 4A, the thread T can easily enter the first notch 40 and the first partial notch 480. Thus, the tongue member 6A can appropriately pass the thread held by the slit 63A to the ligation gripping member 4A.

[0229] Furthermore, the above effects are also effective when the tongue member 6A transfers the thread T to the repositioning gripping member 4B in the process shown in Figure 61.

[0230] The slit 63A extends parallel to the first movement direction Y1, which is the direction of movement of the tongue member 6A. Therefore, the ligating device 1 can smoothly guide and hold the thread T in the slit 63A when the tongue member 6A is moving.

[0231] The tongue member 6A has a hook portion 64 for capturing the thread T. The hook portion 64 is located downstream of the slit 63A in the first movement direction Y1. The ligating device 1 can prevent the thread T that has detached from the slit 63A from coming off the tongue member 6A when the tongue member 6A moves in the second movement direction Y2 by using the hook portion 64.

[0232] The tongue member 6A is plate-shaped and flexible. Therefore, the ligation device 1 can easily bend the tongue member 6A to match the first curving direction of movement Y1.

[0233] The bending rigidity of the curved portion 66B of the tongue member 6A is less than the bending rigidity of the first central portion 66A and the second central portion 66C. The curved portion 66B curves in accordance with the movement of the second jaw 3B from a position close to the first jaw 3A to a position further away. Therefore, the ligation device 1 can easily bend the tongue member 6A when the second jaw 3B moves relative to the first jaw 3A.

[0234] The tongue member 6A has a round hole 60H. The connecting end 99A, located downstream of the first movement direction Y1 of the first operating wire 99, is inserted through the round hole 60H. The ligating device 1 can implement a mechanism for connecting the tongue member 6A and the first operating wire 99 with a simple configuration.

[0235] The ligation device 1 includes a drive unit 90 that moves the tongue member 6A in a first movement direction Y1 or a second movement direction Y2. The drive unit 90 includes a feed screw 94A and a slider 95 which includes a screw hole that engages with the feed screw 94A. The slider 95 functions as a feed nut which moves in the first movement direction Y1 or the second movement direction Y2 by the rotation of the feed screw 94A. A first operating wire 99 connects the slider 95 and the tongue member 6A. The drive unit 90 can move the tongue member 6A in the first movement direction Y1 or the second movement direction Y2 by the rotation of a fourth motor Md.

[0236] The drive unit 90 includes a shaft 93A, a first bevel gear 93C connected to the shaft 93A, and a second bevel gear 94B connected to the lead screw 94A. The first bevel gear 93C and the second bevel gear 94B mesh with each other. The shaft 93A, to which the first bevel gear 93C is connected, is parallel to the vertical direction in which the rotation axis of the fourth motor Md extends. The lead screw 94A, to which the second bevel gear 94B is connected, extends in the front-rear direction. Therefore, the ligation device 1 can position the fourth motor Md in the vertical direction perpendicular to the front-rear direction in which the lead screw 94A extends. The ligation device 1 can be made smaller in the front-rear direction.

[0237] <Modifications> The present invention is not limited to the above embodiments, and various modifications are possible. The shape of the slit 63A of the tongue member 6A is not limited to the above embodiments. Instead of the tongue member 6A, the tongue members 6B, 6C, 6D, and 6E described later can be used.

[0238] <Tongue Member 6B> As shown in Figure 67, the notch 65B of the tongue member 6B differs from that of the tongue member 6A in that it has a slit 63B instead of a slit 63A. The other configurations are the same as those of the tongue member 6A.

[0239] The slit 63B includes a first straight slit portion 631 and a first inclined slit portion 632. The first straight slit portion 631 extends parallel to the extension direction Y, toward the upstream of the first movement direction Y1, from the upstream end of the second inclined portion 62 and the hook portion 64 in the first movement direction Y1. The first straight slit portion 631 is located to the left of the central position Qc of the plate body 60. The first inclined slit portion 632 extends diagonally to the right, toward the upstream of the first movement direction Y1, from the upstream end of the first straight slit portion 631 in the first movement direction Y1. The direction in which the first inclined slit portion 632 extends is inclined with respect to the extension direction Y. The left-right position of the upstream end of the first inclined slit portion 632 in the first movement direction Y1 coincides with the central position Qc of the plate body 60.

[0240] The distance D3 between the first straight slit portion 631 and the first inclined slit portion 632 is the same as the distance D3 between the slits 63A of the tongue member 6A.

[0241] <Tongue Member 6C> As shown in Figure 68, the notch 65C of the tongue member 6C differs from that of the tongue member 6B in that it has a slit 63C instead of a slit 63B. The other configurations are the same as those of the tongue member 6B.

[0242] Slit 63C includes a first straight slit portion 631, a first inclined slit portion 632, and a second straight slit portion 633. The shape of the first straight slit portion 631 is the same as that of the first straight slit portion 631 of slit 63B. The shape of the first inclined slit portion 632 is the same as that of the first inclined slit portion 632 of slit 63B.

[0243] The second linear slit portion 633 extends parallel to the extension direction Y from the upstream end of the first inclined slit portion 632 in the first movement direction Y1 toward the upstream of the first movement direction Y1. The position of the second linear slit portion 633 in the left-right direction coincides with the central position Qc of the plate 60. In other words, the upstream end of the slit 63C in the first movement direction Y1 coincides with the central position Qc of the plate 60.

[0244] The spacing D3 between the first straight slit portion 631, the first inclined slit portion 632, and the second straight slit portion 633 is the same as the spacing D3 between the slits 63A of the tongue member 6A.

[0245] <Tongue Member 6D> As shown in Figure 69, the notch 65D of the tongue member 6D differs from that of the tongue member 6A in that it has a slit 63D instead of a slit 63A. The other configurations are the same as those of the tongue member 6A.

[0246] The slit 63D includes a first inclined slit portion 636 and a second inclined slit portion 637. The first inclined slit portion 636 extends diagonally to the right in the direction upstream of the first movement direction Y1 from the upstream ends of the second inclined portion 62 and the hook portion 64, respectively. The direction in which the first inclined slit portion 636 extends is inclined with respect to the extension direction Y. The second inclined slit portion 637 extends diagonally to the left in the direction upstream of the first movement direction Y1 from the upstream end of the first inclined slit portion 636. The direction in which the second inclined slit portion 637 extends is inclined with respect to the extension direction Y. The direction in which the second inclined slit portion 637 extends intersects with the direction in which the first inclined slit portion 636 extends. The left-right position of the upstream end of the second inclined slit portion 637 in the direction of the first movement direction Y1 coincides with the central position Qc of the plate 60.

[0247] The distance D3 between the first inclined slit portion 636 and the second inclined slit portion 637 is the same as the distance D3 between the slits 63A of the tongue member 6A.

[0248] <Tongue Member 6E> As shown in Figure 70, the notch 65E of the tongue member 6E differs from that of the tongue member 6D in that it has a slit 63E instead of a slit 63D. The other configurations are the same as those of the tongue member 6D.

[0249] Slit 63E includes a first inclined slit portion 636, a second inclined slit portion 637, and a third straight slit portion 638. The shape of the first inclined slit portion 636 is the same as that of the first inclined slit portion 636 of slit 63D. The shape of the second inclined slit portion 637 is the same as that of the second inclined slit portion 637 of slit 63D.

[0250] The third linear slit portion 638 extends parallel to the extension direction Y from the upstream end of the second inclined slit portion 637 in the first movement direction Y1 toward the upstream of the first movement direction Y1. The position of the third linear slit portion 638 in the left-right direction coincides with the central position Qc of the plate body 60. In other words, the upstream end of the slit 63E in the first movement direction Y1 coincides with the central position Qc of the plate body 60.

[0251] The spacing D3 between the first inclined slit portion 636, the second inclined slit portion 637, and the third straight slit portion 638 is the same as the spacing D3 between the slits 63A of the tongue member 6A.

[0252] <Effects and Operation of Modified Version> When the tongue members 6B to 6E move in the second movement direction Y2, the thread T moves relative to the tongue members 6B to 6E in the first movement direction Y1. The first inclined slit portions 632 and 636 are inclined with respect to the first movement direction Y1. When the thread T moves relative to the tongue members, it comes into contact with the first inclined slit portions 632 and 636, restricting further relative movement. Therefore, the ligating device 1 can prevent the thread T from detaching from the slits 63B to 63E.

[0253] The slits 63D and 63E include a second inclined slit portion 637. The second inclined slit portion 637 is inclined with respect to the first movement direction Y1 and intersects with the direction in which the first inclined slit portion 636 extends. When the thread T moves relative to the slits, it comes into contact with the second inclined slit portion 637, restricting further relative movement. Therefore, the ligating device 1 can more effectively suppress the thread from detaching from the slits 63D and 63E than when only the first inclined slit portion 636 is provided. <Other Modifications> The present invention is not limited to the above embodiments and modifications, and various modifications are possible. In the following description, when the tongue members 6A to 6E are not distinguished, they will be collectively referred to as "tongue member 6". When the slits 63A to 63E are not distinguished, they will be collectively referred to as "slit 63".

[0254] The tongue member 6 does not need to have a first inclined portion 61. The downstream end 60F of the tongue member 6A may extend parallel to the left-right direction. The tongue member 6 does not need to have a second inclined portion 62. A slit 63 may be provided at the downstream end of the first inclined portion 61 in the first movement direction Y1.

[0255] In slits 63A to 63E, the left-right position of the upstream end in the first movement direction Y1 coincided with the central position Qc of the plate body 60. In contrast, the left-right position of the upstream end in the first movement direction Y1 of slits 63A to 63E may be positioned to the left or right of the central position Qc.

[0256] The tongue member 6 does not necessarily have to have a hook portion 64.

[0257] The tongue member 6 is not limited to a plate shape; it may also be a rectangular prism, a cylinder, or the like.

[0258] The elongated hole 600H does not necessarily have to be formed in the curved portion 66B of the tongue member 6. The bending rigidity of the curved portion 66B may be less than that of the first central portion 66A and the second central portion 66C, based on other configurations.

[0259] For example, at least one of the left end 60L and the right end 60R of the curved portion 66B may be recessed toward the central position Qc. A slit may be provided in the curved portion 66B. The thickness of the curved portion 66B may be thinner than that of the first central portion 66A and the second central portion 66C. The material of the curved portion 66B may be different from that of the first central portion 66A and the second central portion 66C. The curved portion 66B may be subjected to cutting, polishing, rolling, bending, annealing, or the like.

[0260] The drive unit 90 that moves the tongue member 6 in the first movement direction Y1 or the second movement direction Y2 may have a different configuration from that of the above embodiment. For example, the drive unit 90 may include a rack and pinion, a hydraulic cylinder, a linear motor, a cam mechanism, etc.

[0261] The tongue member 6 and the first operating wire 99 may be connected in a manner different from that described above. For example, the tongue member 6 and the first operating wire 99 may be connected by a clamp, fittings, screws or bolts, adhesive, welding, etc.

[0262] 1: Ligation device 6, 6A, 6B, 6C, 6D, 6E: Tongue member 60F: Downstream end 60H: Round hole 61: First inclined section 62: Second inclined section 63, 63A, 63B, 63C, 63D, 63E: Slit 64: Hook section 65, 65A, 65B, 65C, 65D, 65E: Notch 66A: First central section 66B: Curved section 66C: Second central section 90: Drive unit 93A: Shaft 93C: First bevel gear 94A: Lead screw 94B: Second bevel gear

Claims

1. A ligating device comprising: a jaw member having a first jaw and a second jaw that moves relative to the first jaw, the jaw member holding the object to be ligated between the first jaw and the second jaw; a receiving portion for receiving a thread to ligate the object to be ligated; and a tongue member that, while holding the thread received in the receiving portion, moves in a first direction of movement from the second jaw toward the first jaw, wherein the tip of the tongue member has a notch through which the thread is inserted, and the notch is narrower in width than the thickness of the thread and includes a slit into which the thread engages.

2. The ligating device according to claim 1, characterized in that the tip of the tongue member is provided downstream of the notch in the first direction of movement and has a first inclined portion that intersects with respect to the first direction of movement.

3. The ligating device according to claim 2, characterized in that the notch is provided upstream of the first inclined portion and downstream of the slit in the first direction of movement, and has a second inclined portion that intersects with the first direction of movement and the direction in which the first inclined portion extends, and a virtual line extending along the first inclined portion intersects with the second inclined portion.

4. The ligating device according to claim 3, characterized in that the slit is connected to the upstream end of the second inclined portion in the first direction of movement, and the upstream end of the slit in the first direction of movement is positioned in the center of the tongue member in a direction perpendicular to the first direction of movement.

5. The ligating device according to claim 1, characterized in that the slit includes a straight slit portion extending parallel to the first direction of movement.

6. The ligating device according to claim 2 or 5, characterized in that the slit includes a first inclined slit portion that is inclined with respect to the first direction of movement.

7. The ligating device according to claim 6, characterized in that the slit includes a second inclined slit portion that is inclined with respect to the first direction of movement and intersects with respect to the direction in which the first inclined slit portion extends.

8. The ligating device according to claim 1, wherein the tongue member has a hook portion for capturing the thread, and the hook portion is located downstream of the slit in the first direction of movement.

9. The ligation device according to claim 1, characterized in that the tongue member is plate-shaped and flexible.

10. The ligation device according to claim 1, wherein the tongue member includes a central portion located upstream of the notch in the first direction of movement, and a curved portion located upstream of the central portion in the first direction of movement, which curves in accordance with the relative movement of the second jaw to the first jaw, and the bending rigidity of the curved portion is less than the bending rigidity of the central portion.

11. The ligating device according to claim 1, comprising a drive unit for moving the tongue member in the first movement direction, wherein the drive unit comprises a feed screw, a feed nut that engages with the feed screw and moves in the first movement direction by the rotation of the feed screw, and a connecting unit that connects the feed nut and the tongue member.

12. The ligating device according to claim 11, characterized in that the drive unit comprises a shaft perpendicular to the direction in which the lead screw extends, a first bevel gear connected to the shaft, and a second bevel gear connected to the lead screw and meshing with the first bevel gear.

13. The ligation device according to claim 11, characterized in that the tongue member has a hole through which the downstream end of the connecting portion in the first direction of movement is inserted.

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