The present invention relates to a camera head adaptor for holding an endoscope.
As a robot for holding an endoscope, for example, surgical assistance systems described in Patent Documents 1 and 2 have been proposed. Such a surgical assistance system is composed of a base unit and a robot mechanism, and the robot mechanism has a support column, a first robot arm that is attached to the tip of the support column so as to be rotatable, a second robot arm that is attached to the tip of the first robot arm so as to be rotatable, and a device support that is attached to the tip of the second robot arm. The device support is configured to accommodate an endoscope or other medical tool or device.
In the surgical assistance systems described in Patent Documents 1 and 2, however, when an endoscope having a structure in which an insertion portion extends from a camera head is held, the insertion portion is clamped by the device support (see FIG. 1 of Patent Document 2), and therefore the electrical wirings and optical cables in the insertion portion are liable to be stressed. This stress may damage the electrical wirings, optical cables, etc. in the insertion portion, thus leading to the instability of the treatment tool's operation and the image capture, and there are concerns about problems such as deterioration in the image quality of captured images.
Moreover, the insertion portion is clamped by adjusting the distance between two clamping materials provided at the tip of the device support. This distance adjustment is performed while balancing the weight of the camera head and the insertion portion, and the operation is therefore somewhat complicated.
Accordingly, an object of the present invention is to provide a camera head adaptor that allows an endoscope to be detachably attached with a simple operation and that can prevent stress on electrical wirings, optical cables, etc. in an insertion portion due to a camera head being held. Another object of the present invention is to provide a camera head adaptor that can readily respond to the change in the size or shape of a camera head by adopting a simple configuration comprising a holding portion that holds the camera head and a connecting portion and a coupling portion that are provided at both ends of the holding portion.
To achieve the above objects, the present invention provides a camera head adaptor for holding an endoscope having a camera head, comprising: a holding portion that holds the camera head of the endoscope in a detachable manner; a connecting portion that extends along an observation optical axis of the camera head and can be attached to a support structure; and a coupling portion that couples the holding portion and the connecting portion.
In the camera head adaptor of the present invention, the holding portion preferably has a release structure that can release holding of the camera head when an external force of a predetermined value or more is applied to the endoscope or the camera head adaptor.
In the camera head adaptor of the present invention, preferably, the holding portion is composed of an elastically deformable material and comprises a plurality of wall portions that elastically hold the camera head inserted in the holding portion while being in contact with the camera head, and the release structure is preferably configured such that the holding of the camera head is released by elastic deformation or plastic deformation of the plurality of wall portions when the external force of the predetermined value or more is applied to the endoscope or the camera head adaptor.
In the camera head adaptor of the present invention, the connecting portion preferably comprises an engaging portion that enables detachable attachment to the support structure.
In the camera head adaptor of the present invention, preferably, the support structure is a robot comprising a bendable arm portion and the connecting portion is detachably attached to the arm portion.
In the camera head adaptor of the present invention, preferably, the endoscope is configured such that an insertion portion, an electrical cable, and an optical cable extend from the camera head, the holding portion holds only the camera head of the endoscope, and the electrical cable and the optical cable extend from the coupling portion to outside.
In the camera head adaptor of the present invention, preferably, the camera head has a change in an outer shape when viewed along a direction in which the observation optical axis extends, and the holding portion has an inner surface shape corresponding to the outer shape of the camera head.
In the camera head adaptor of the present invention, preferably, the plurality of wall portions of the holding portion includes two side wall portions that extend along a direction of a central axis of the holding portion and face each other and the camera head is supported by the two side wall portions.
In the camera head adaptor of the present invention, the two side wall portions preferably have a facing distance that decreases in a front-side portion in the direction of the central axis toward a front and decreases in a rear-side portion toward a rear.
In the camera head adaptor of the present invention, preferably, the plurality of wall portions of the holding portion further includes a bottom wall portion that connects the two side wall portions to each other on a back side in an insertion direction of the camera head and the camera head is supported by the two side wall portions and the bottom wall portion.
In the camera head adaptor of the present invention, the front-side portion of the holding portion is preferably provided with a groove portion that allows the insertion portion extending from the camera head held by the holding portion to extend to outside without bending.
In the camera head adaptor of the present invention, preferably, an opening portion that allows the camera head to be inserted is formed between the two side wall portions, and when the camera head is inserted in the holding portion, an operation unit of the camera head is exposed from the opening portion.
In the camera head adaptor of the present invention, preferably, the coupling portion has a space that merges into a space accommodating the camera head in the holding portion and the electrical cable and the optical cable are connected to the camera head without bending.
According to the present invention, it is possible to provide a camera head adaptor that allows the endoscope to be detachably attached with a simple operation and that can prevent stress on electrical wirings, optical cables, etc. in the insertion portion due to the camera head being held. Moreover, by adopting a simple configuration comprising the holding portion that holds the camera head and the connecting portion and coupling portion that are provided at both ends of the holding portion, it is possible to provide a camera head adaptor that can readily respond to the change in the size or shape of the camera head.
Hereinafter, the camera head adaptor according to one or more embodiments of the present invention will be described in detail with reference to the drawings.
In the following description, an observation optical axis AX1 of an endoscope 100 and a central axis AX2 along the longitudinal direction of a camera head adaptor 20 will be set, the front-rear direction along the central axis AX2 will be referred to as a D11-D12 direction, and the up-down direction and the right-left direction (width direction) which are orthogonal to the front-rear direction and orthogonal to each other will be referred to as a D21-D22 direction and D31-D32 direction, respectively. The central axis AX2 coincides approximately with the observation optical axis AX1 when the endoscope 100 is attached to the camera head adaptor 20. In each figure, D11, D12, D21, D22, D31, and D32 may be referred to as a front side, a rear side, an upper side, a lower side, a left side, and a right side, respectively.
In the present embodiment, an example of holding the endoscope 100 used for endoscopic surgery will be described for a form in which a holder 60 can be attached to a robot for surgical assistance as a support structure. Examples of the support structure of the present embodiment include a robot whose arm portion can be bent, for example, by pneumatic drive, but the camera head adaptor 20 of the present embodiment can also be applied to a robot of a different operating principle, a robot whose arm portion is not bent for drive, and a structure other than a robot.
As illustrated in
As illustrated in
The tip holding unit 10 holds the holder 60 in a detachable manner via the attachment member 11 provided at the tip portion and thereby holds the camera head adaptor 20 attached to the holder 60. The attachment member 11 is disposed concentrically with the tip holding unit 10 in a plan view along the central axis AX2 and has a circular shape having a smaller diameter than that of the tip holding unit 10.
The gimbal mechanism unit 14 supports the camera head adaptor 20 so that the camera head adaptor 20 is rotatable around the central axis AX2 along the observation optical axis AX1 of the endoscope 100 and also rotatable around a direction intersecting the central axis AX2, preferably a direction extending orthogonally to the central axis AX2.
As illustrated in
The camera head 110 includes an imaging element (not illustrated) for capturing the image of an object to be observed/imaged and an optical system (not illustrated) for forming an image on the imaging element and has the observation optical axis AX1 corresponding to the optical axis of the imaging element. The camera head 110 has a change in the outer shape when viewed along the direction in which the observation optical axis AX1 extends. Specifically, the camera head 110 has a diameter that decreases in a front-side portion (D11 side portion) in the observation optical axis AX1 toward the front and decreases in a rear-side portion (D12 side portion) in the observation optical axis AX1 toward the rear, and the intermediate portion between them is in a cylindrical shape having approximately the same diameter.
The housing of the camera head 110 is composed of a rigid material in order to protect the built-in imaging element and optical system and to reliably maintain the arrangement relationship between them. On the other hand, the tubular material constituting the outer circumference of the insertion portion 120 is composed of a flexible material that can be bent and deformed when inserted into the patient's body. In addition, the tubular materials constituting the outer circumferences of the electrical cable 131 and the optical cable 132 are composed of flexible materials that allow the deformation in accordance with the routing arrangement. The housing of the camera head 110, the tubular material of the insertion portion 120, the tubular material of the electrical cable 131, and the tubular material of the optical cable 132 are composed, for example, of resin materials as the materials having the above-described properties.
The user can operate the operation unit 111 thereby to perform the start/completion of the imaging, the adjustment of the imaging conditions by operating the built-in optical system, the adjustment of the illumination intensity, etc.
The insertion portion 120 is provided on one end portion side of the camera head 110 in the direction along the observation optical axis AX1, and the electrical cable 131 and the optical cable 132 are provided on the other side in the direction along the observation optical axis AX1. Thus, the insertion portion 120, the camera head 110, the electrical cable 131, and the optical cable 132 are arranged in this order from the object side along the observation optical axis AX1.
The electrical cable 131 and the optical cable 132 are smaller in size than the camera head 110 in the width direction (D31-D32 direction) and are arranged side by side in the up-down direction (D21-D22 direction).
The insertion portion 120 is provided so as to extend along the observation optical axis AX1 and has, in its inside, an optical fiber or the like that guides the light emitted from an external light source to the tip surface and a path that guides the light incident from the tip surface to the camera head 110. The insertion portion 120 may be provided therein with a treatment tool for treating an object, such as forceps or a path for ejecting water or air, a wire for bending and deforming the insertion portion 120, etc.
The electrical cable 131 is configured such that a supply line for supplying the electric power to the camera head 110 and a transmission line for transmitting the imaging data from the imaging element to an external image processing unit or display unit are inserted in the electrical cable 131. The optical cable 132 has a path such as an optical fiber for guiding the emitted light from the external light source to the insertion portion 120 side.
As illustrated in
The holding portion 30 holds the camera head 110, which has a rigid housing, of the endoscope 100 in a detachable manner. As illustrated in
Front tip portions 31a and 32a of the two side wall portions 31 and 32 are connected to each other, and a groove portion 30a along the central axis AX2 is provided between the front tip portions 31a and 32a. The upper side of the groove portion 30a is open. That is, the groove portion 30a is formed in the front-side portion of the holding portion 30. When the camera head 110 is disposed in the holding portion 30 of the camera head adaptor 20, the insertion portion 120 extends to the outside through the groove portion 30a; therefore, the insertion portion 120 can be extended without bending, and the camera head 110 can be held while suppressing the stress applied to the insertion portion 120. Moreover, the insertion portion 120 is supported by being in contact with the groove portion 30a.
As substitute for the groove portion 30a, a hole portion may be provided so as to pass through the connection portion between the front tip portions 31a and 32a of the two side wall portions 31 and 32 along the direction of the central axis AX2.
The camera head adaptor 20 is manufactured, for example, by integral molding of a resin. In the camera head adaptor 20, the two side wall portions 31 and 32 have an opening portion 30b with which the camera head 110 can be inserted in a space 30s between the side wall portions 31 and 32 (see
The camera head adaptor 20 has flexibility so as to be capable of reliably holding the camera head 110 in the above space in a normal surgical operation and allowing the camera head 110 to be inserted into the above space 30s by elastic deformation of the two side wall portions 31 and 32. In the holding portion 30, the camera head 110 inserted in the space 30s between the two side wall portions 31 and 32 is supported by the two side wall portions 31 and 32 at the two sides of the camera head 110 facing each other and also supported by the bottom wall portion 33 at the bottom portion of the camera head 110. When the two side wall portions 31 and 32 have shapes in which the curvature, bend, or thickness is adjusted so that the upper end portions (ridge portions on the upper side (D21 side)) of the two side wall portions 31 and 32 are closer to each other than the lower end portions are, and the two side wall portions 31 and 32 are in contact with or close to a part of the upper surface of the camera head 110 accommodated therein, this is preferred because the camera head 110 can be reliably held.
The side wall portions may be composed of a plurality of three or more wall portions, provided that the camera head 110 can be reliably held.
By configuring the holding portion 30 in this way, the camera head 110 can be reliably held in the space 30s, and the holding portion 30 serves as a release structure that is configured such that the holding of the camera head 110 can be released by elastic deformation or plastic deformation of the two wall portions 31 and 32 when an external force of a predetermined value or more is applied to the endoscope 100 or the camera head adaptor 20. The above predetermined value is preliminarily set as a value sufficiently large with respect to the external force applied during the operation in a normal surgical operation or setting operation, and the camera head 110 can be released from the camera head adaptor 20 when an external force of the predetermined value or more is applied. The shapes and flexibility (elasticity) of the two side wall portions 31 and 32 of the camera head adaptor 20 are set so that such a release structure functions.
The coupling portion 50 is composed of portions in which the two side wall portions 31 and 32 extend from the holding portion 30, and the space between the two side wall portions 31 and 32 merges into the space 30s in the holding portion 30. The facing distance between the two side wall portions 31 and 32 in the width direction (D31-D32 direction) is set smaller than that of the holding portion 30. This facing distance is smaller than the camera head 110 and is large enough to allow the thickest portions of the electrical cable 131 and the optical cable 132 to be inserted. The coupling portion 50 is not provided with a bottom portion and has a shape passing through in the up-down direction. The camera head 110 cannot be inserted into the coupling portion 50 due to such a shape, and therefore the user can easily insert the camera head 110 into the holding portion 30, which is the correct insertion position, simply by adjusting the camera head 110 back and forth. Moreover, it is possible to prevent disconnection and other problems because the connection portion in which the electrical cable 131 and the optical cable 132 are connected to the camera head 110 is inserted in the coupling portion 50 without bending, so that the connection portions between the camera head 110 and the electrical cable 131 and optical cable 132 are less likely to be stressed during the operation of the endoscope or robot.
The coupling portion 50 is not limited to the above structure, provided that it can reliably couple the holding portion 30 and the connecting portion 40. For example, another configuration is also possible in which the two side wall portions 31 and 32 are not extended to the coupling portion 50, but are joined to each other on the near side of the coupling portion 50 to form a closed shape and a rod-shaped coupling portion or a plate-shaped coupling portion, for example, is joined to the holding portion having such a shape.
In the present embodiment, the two side wall portions 31 and 32 are flexible (elastic), but can be composed of a rigid material, provided that the camera head 110 can be inserted and reliably held. In this case, it is preferred to give the coupling portion 50 flexibility or elasticity because the insertability of the camera head 110 can be ensured.
As illustrated in
As illustrated in
As illustrated in
These three engaging protrusions 42a, 42b, and 42c are arranged at positions corresponding to those of the three engaging protrusions 41a, 41b, and 41c on the left side surface 41 with respect to the surface extending in the up-down direction and including the central axis AX2.
As illustrated in
The base material portion 61 has a planar shape that spreads approximately like a circular disk when viewed along the front-rear direction (D11-D12 direction), and the rear portion of the base material portion 61 is provided with an attaching portion 62 that protrudes rearward and is joined to the arm portion of a robot in a detachable manner.
The holder 60 may be configured to be fixed to the arm portion of a robot, or the attachment member of the arm portion may have the same configuration as the holder 60.
The attaching portion 62 is provided within a diameter range smaller than the diameter of the planar shape of the base material portion 61 and has a predetermined width W (see
The two side wall portions 70 and 80 of the holder 60 are provided so as to extend from the front surface 61a of the base material portion 61 to the front side (D11 side) and face each other in the right-left direction (D31-D32 direction). The bottom wall portion 90 extends from the front surface 61a of the base material portion 61 to the front side and is connected to the lower portions of the two side wall portions 70 and 80. This allows a space 60a to be formed in front of the base material portion 61. The space 60a is surrounded by the two side wall portions 70 and 80 and the bottom wall portion 90, and the upper side of the space 60a is open. The camera head adopter holding portion is thus configured, which holds the camera head adaptor 20 in a detachable manner.
As illustrated in
The upper inner surface of the right-side second side wall portion 80 of the holder 60 is provided with two insertion recessed portions 81 and 82 that are recessed toward the outside (right side (D32 side)) so as to face the two insertion recessed portions 71 and 72 of the left-side first side wall portion 70, respectively. These insertion recessed portions 81 and 82 are provided side by side so that the center positions are arranged at a predetermined distance L1 in the front-rear direction. In the rear-side insertion recessed portion 82, its center position is separated from the front surface 61a of the base material portion 61 by a distance L3 in the front-rear direction.
As illustrated in
The front-side insertion recessed portion 81 extends further downward from the linked portion with the first fixing recessed portion 83 and is provided in a linked manner with a third fixing recessed portion 85 extending frontward at a position at which a distance L2 is extended. Here, the three fixing recessed portions 83, 84, and 85 are arranged so that the relative positional relationships of the three fixing recessed portions 83, 84, and 85 in the up-down and front-rear directions correspond to the relative positional relationships of the three engaging protrusions 42a, 42b, and 42c of the connecting portion 40 in the up-down and front-rear directions. The three fixing recessed portions 83, 84, and 85 have inner surface shapes corresponding to the outer shapes of the three engaging protrusions 42a, 42b, and 42c, respectively. When the three engaging protrusions 42a, 42b, and 42c are inserted, therefore, they are press-fitted by applying a predetermined force, and after the press-fitting, they are fixed to such an extent that they are not detached even if an external force due to an operation such as a normal surgical operation is applied.
Here, although not illustrated, the insertion recessed portions 71 and 72 of the left-side first side wall portion 70 are also provided in a linked manner with a first fixing recessed portion, a second fixing recessed portion, and a third fixing recessed portion as in the insertion recessed portions 81 and 82 of the right-side second side wall portion 80.
The joint between the camera head adaptor 20 and the holder 60 will be described by focusing on the joint between the right side surface 42 of the connecting portion 40 and the right-side second side wall portion 80 of the holder 60. The left side surface 41 of the connecting portion 40 and the left-side first side wall portion 70 of the holder 60 are also joined in the same manner.
First, as illustrated in
Then, the camera head adaptor 20 is displaced downward or the holder 60 is displaced upward, and the engaging protrusions 42c and 42b of the connecting portion 40 are thereby inserted into the insertion recessed portions 81 and 82, respectively (
Subsequently, taking the right side surface 42 as an example, as illustrated in
Here, as illustrated in
When the camera head adaptor 20 is moved rearward or the holder 60 is moved frontward from the state in which the camera head adaptor 20 and the holder 60 are fixed to each other as above, the engaging protrusion 42a, the engaging protrusion 42b, and the engaging protrusion 42c are extracted from the first fixing recessed portion 83, the second fixing recessed portion 84, and the third fixing recessed portion 85, respectively. Then, by pulling up the connecting portion 40 upward to pull out the engaging protrusion 42a, the engaging protrusion 42b, and the engaging protrusion 42c from the insertion recessed portions 81 and 82, it is possible to release the camera head adaptor 20 from the holder 60. Thus, the above steps allow the holder 60 to hold the camera head adaptor 20 in a detachable manner.
The attaching portion 62 of the holder 60 has a shape corresponding to a holding groove portion 12 provided in the attachment member 11 of the tip holding unit 10 of the robot's arm portion. Specifically, as illustrated in
Here, an outer peripheral surface 61b of the base material portion 61 of the holder 60 or an outer peripheral surface 62b of the attaching portion 62 may be used, for example, as a drape holding portion. When the tip portion of a drape is attached to any or each of the outer peripheral surfaces 61b and 62b and the drape is made to cover the arm portion or further the robot as a whole, the robot can be reliably kept in a clean state, and the holder 60 and the camera head adaptor 20 contaminated by the surgical operation or the like can be easily separated from the robot.
While the present invention has been described with reference to the above embodiment, the present invention is not limited to the above embodiment and can be improved or modified within the scope of the purpose of improvement or the idea of the present invention.
As described above, the camera head adaptor according to the present invention is useful in that it allows an endoscope to be detachably attached with a simple operation and it can prevent stress on electrical wirings, optical cables, etc. in the insertion portion due to the camera head being held.
Number | Date | Country | |
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Parent | PCT/JP2019/051461 | Dec 2019 | US |
Child | 17715656 | US |