The present disclosure relates to a forceps device used for a manipulator of a surgical robot.
Medical treatments using robots (manipulators) have recently been proposed in order to reduce the burden on operators and save manpower in medical facilities. In the field of surgery, proposals have been made for surgical manipulator systems for operators to treat patients by operating remotely-controllable surgical manipulators.
Various surgical tools may be attached to leading ends of surgical manipulators.
It is an aspect to provide a forceps device with high controllability.
According to an aspect of one or more embodiments, there is provided a forceps device comprising a grasping part; a support that holds the grasping part; a first rotating shaft that turnably supports the support; a base member that holds the first rotating shaft; a plurality of guide pulleys arranged coaxially with the first rotating shaft; a plurality of grasping portion wires running over the plurality of guide pulleys and the grasping part without other pulleys therebetween and transmitting a first driving force to the grasping part to move the grasping part; a support pulley provided on the support; and a support wire running over the support pulley and transmitting a second driving force to the support to turn the support about the first rotating shaft.
According to another aspect of one or more embodiments, there is provided a forceps device comprising a grasping part; a support that holds the grasping part; a first rotating shaft that turnably supports the support; a base member that holds the first rotating shaft; a plurality of guide pulleys arranged coaxially with the first rotating shaft; and a plurality of grasping portion wires running over the plurality of guide pulleys and the grasping part without other pulleys therebetween and transmitting a first driving force to the grasping part to move the grasping part. The grasping part includes a first grasping portion and a second grasping portion configured to move relative to each other to grasp an object, the first grasping portion is continuous with a first jaw pulley and a second jaw pulley, the first jaw pulley and the second jaw pulley constituting a bifurcated shape, the second grasping portion is continuous with a third jaw pulley and a fourth jaw pulley, the third jaw pulley and the fourth jaw pulley constituting a bifurcated shape, and the forceps device further comprises a second rotating shaft that rotatably supports the first jaw pulley, the third jaw pulley, the second jaw pulley, and the fourth jaw pulley arranged in this order.
According to yet another aspect of one or more embodiments, there is provided a forceps device comprising a grasping part; a support that holds the grasping part; a first shaft that rotatably supports the support; a base that holds the first shaft; a plurality of guide pulleys arranged coaxially with the first shaft; a plurality of wires running from the plurality of guide pulleys directly to the grasping part, the plurality of wires transmitting a first driving force directly from the plurality of guide pulleys to the grasping part to move the grasping part; a support pulley provided on the support; and a support wire running over the support pulley and transmitting a second driving force to the support to turn the support about the first shaft.
As described above, various surgical tools may be attached to leading ends of surgical manipulators. For example, in some embodiments, the surgical tool may be a forceps for grasping human tissue during surgery. The forceps may include two jaw parts serving as grasping portions, two disks having different outer diameters from each other provided on the respective jaw parts, and wires running over the disks. The wires are pulled to open or close the jaw parts.
In the forceps, however, deflection rollers for making fleet angles of the wires smaller are provided between a disk over which a wire that is pulled for bending the whole jaw parts and a disk provided on the jaw parts. Thus, there is a disadvantage in that some distance is needed between a rotation axis of bending of the whole jaw parts and a rotation axis of opening and closing of the jaw parts. Additionally, there is another disadvantage in that the torque therefore reduces at the leading end of the forceps and the controllability thus lowers as compared with forceps with a short distance between the rotation axes.
It is thus an aspect to provide a forceps device with high controllability.
To address the aforementioned disadvantages, a forceps device according to an aspect of one or more embodiments may include a grasping part; a support that holds the grasping part; a first rotating shaft that turnably supports the support; a base member that holds the first rotating shaft; a plurality of guide pulleys arranged coaxially with the first rotating shaft; a plurality of grasping portion wires running over the guide pulleys and the grasping part without other pulleys therebetween and transmitting driving force to move the grasping part; a support pulley provided on the support; and a support wire running over the support pulley and transmitting driving force to turn the support about the first rotating shaft.
According to this aspect, the distance between the first rotating shaft and the second rotating shaft can be shortened, and the torque of the grasping part can therefore be increased. As a result, a forceps device with high controllability of the grasping part can be provided.
In some embodiments, the grasping part may include a first grasping portion and second grasping portion that move relative to each other to grasp an object. The first grasping portion may be continuous with a first grasping portion pulley and a second grasping portion pulley, which constitute a bifurcated shape, and the second grasping portion may be continuous with a third grasping portion pulley and a fourth grasping portion pulley, which constitute a bifurcated shape. The forceps device may further include a second rotating shaft that rotatably supports the first grasping portion pulley, the third grasping portion pulley, the second grasping portion pulley, and the fourth grasping portion pulley arranged in this order.
According to another aspect, a forceps device may include a grasping part; a support that holds the grasping part; a first rotating shaft that turnably supports the support; a base member that holds the first rotating shaft; a plurality of guide pulleys arranged coaxially with the first rotating shaft; and a plurality of grasping portion wires running over the guide pulleys and the grasping part without other pulleys therebetween and transmitting driving force to move the grasping part. The grasping part may include a first grasping portion and second grasping portion that move relative to each other to grasp an object. The first grasping portion may be continuous with a first grasping portion pulley and a second grasping portion pulley, which constitute a bifurcated shape, and the second grasping portion may be continuous with a third grasping portion pulley and a fourth grasping portion pulley, which constitute a bifurcated shape. The forceps device may further include a second rotating shaft that rotatably supports the first grasping portion pulley, the third grasping portion pulley, the second grasping portion pulley, and the fourth grasping portion pulley arranged in this order.
According to this aspect, the distance between the first rotating shaft and the second rotating shaft can be shortened, and the torque of the grasping part can therefore be increased. As a result, a forceps device with high controllability of the grasping part can be provided.
In some embodiments, the support may include a cylindrical part through which the first rotating shaft extends. The guide pulleys may be rotatably supported by an outer circumference of the cylindrical part.
In some embodiments, the guide pulleys may include first to fourth guide pulleys. The grasping portion wires may be passed over the first to fourth guide pulleys and the first to fourth grasping portion pulleys without other pulleys therebetween.
In some embodiments, the grasping portion wires may include a first grasping portion wire running over the first guide pulley and the third grasping portion pulley; a second grasping portion wire running over the second guide pulley and the first grasping portion pulley; a third grasping portion wire running over the third guide pulley and the second grasping portion pulley; and a fourth grasping portion wire running over the fourth guide pulley and the fourth grasping portion pulley.
In some embodiments, the first grasping portion wire may be passed over a first side of the first guide pulley with respect to a vertical cross section including the first rotating shaft and being perpendicular to the second rotating shaft, and then fixed to the third grasping portion pulley located on the first side with respect to the vertical cross section, the second grasping portion wire may be passed over the first side of the second guide pulley with respect to the vertical cross section, and then fixed to the first grasping portion pulley located on the first side with respect to the vertical cross section, the third grasping portion wire may be passed over a second side of the third guide pulley with respect to the vertical cross section, and then fixed to the second grasping portion pulley located on the second side with respect to the vertical cross section, and the fourth grasping portion wire may be passed over the second side of the fourth guide pulley with respect to the vertical cross section, and then fixed to the fourth grasping portion pulley with respect to the vertical cross section. As a result, the four grasping portion wires are fixed to the four grasping portion pulleys, respectively, without intersecting with each other. In addition, the four grasping portion wires running over the first to fourth guide pulleys are fixed to the four grasping portion pulleys, respectively, with small fleet angles.
In some embodiments, the forceps device may further include a fifth guide pulley located on an upstream side of the first guide pulley and on the second side with respect to the vertical cross section; a sixth guide pulley located on an upstream side of the second guide pulley and on the second side with respect to the vertical cross section; a seventh guide pulley located on an upstream side of the third guide pulley and on the first side with respect to the vertical cross section; and an eighth guide pulley located on an upstream side of the fourth guide pulley and on the first side with respect to the vertical cross section. As a result, when the support is bent in either direction about the first rotating shaft, one or more of the grasping portion wires comes in contact with the associated one or more of the first to fourth guide pulleys, which stabilizes the controllability when the support is turned.
According to an aspect of one or more embodiments, a method, a device, a system, and the like consistent with the forceps device may also be provided.
According to various embodiments, a forceps device with high controllability can be achieved.
Various embodiments will now be described with reference to the drawings. Components, members, and processes that are the same as or equivalent to each other illustrated in the drawings are represented by the same reference numerals, and redundant explanation will not be repeated where appropriate for conciseness. The embodiments are not limited to those discussed herein, but are provided merely as an example, and various modifications may be made to the embodiments, such modifications being included within the scope of the accompanying claims.
[Forceps Device]
The forceps device 10 may include a grasping part GP, a support 14, a first rotating shaft 16, a base member 18, a plurality of guide pulleys 20, a second rotating shaft 22, a plurality of jaw pulleys 24, and a plurality of wires 26, 28, 30, 32, 38 and 40. In some embodiments, the grasping part GP may include a pair of grasping portions 12a and 12b. The support 14 may hold the pair of grasping portions 12a and 12b, the first rotating shaft 16 may turnably support the support 14, and the base member 18 may hold the first rotating shaft 16. In some embodiments, the plurality of guide pulleys 20 may include four guide pulleys 20 arranged coaxially with the first rotating shaft 16. The second rotating shaft 22 may turnably support the pair of grasping portions 12a and 12b and may be held by the support 14. In some embodiments, the plurality of jaw pulleys 24 may include four jaw pulleys 24 supported coaxially with the second rotating shaft 22. In some embodiments, the plurality of wires 26, 28, 30, 32, 38 and 40 may include four wires 26, 28, 30 and 32 running over the four guide pulleys 20 and the four jaw pulleys 24, and wires 38 and 40 for rotating the support 14 about the first rotating shaft 16.
[Guide Pulleys 20]
As illustrated in
Each of the guide pulleys 20 according to some embodiments is formed such that the angle a between the inner circumferential face 20d or the inner circumferential face 20e and the center line CL is within a range from 3 to 7 degrees. In addition, one end face 20f of each guide pulley 20 is tilted at the angle a with respect to the plane P, and the angle between the end face 20f and the inner circumferential face 20d is 90°. Furthermore, the other end face 20g of the guide pulley 20 is parallel to the plane P (perpendicular to the center line CL). Each guide pulley 20 is therefore an annular member that is asymmetric with respect to the plane P.
As illustrated in
As illustrated in
Next, the base member 18 will be described. As illustrated in
The arms 18a and 18b each have a base part 18c holding the third rotating shaft 36, and a distal end part 18d that holds the first rotating shaft 16 and that is thinner than the base part 18c. In other words, the distance between the distal end parts 18d is larger than the distance between the base parts 18c. Thus, as illustrated in
In some embodiments, the circumferential width W1 of the distal end part 18d of the arm 18a (the arm 18b) is smaller than the circumferential width W2 of the base part 18c thereof. Thus, a U-shaped recess is formed at the distal end part 18d at which interference with a wire needs to be addressed, and the circumferential width of the distal end part 18d is made larger than the circumferential width of the base part 18c, which minimizes deterioration of the stiffness of the arm.
As illustrated in
[Easiness of Assembly of Support]
In the forceps device 10 having such a structure, the support 14 in a state in which a plurality of guide pulleys 20 are supported by the outer circumference of the annular part 14a is held by the base member 18 with the first rotating shaft 16 therebetween. This configuration facilitates improvement in the easiness of assembly as compared with a case where the support 14 is held directly by the base member 18.
In addition, the base member 18 of some embodiments has the pair of arms 18a and 18b facing each other. The first rotating shaft 16 is firmly fixed in such a manner that the axial ends thereof are press-fitted to the pair of arms 18a and 18b. As a result, because the distal ends of the pair of arms 18a and 18b, which can be free ends, are fixed by the rotating shaft, the stiffness of the whole base member 18 increases.
Each of the wires 26, 28, 30 and 32 transmits a driving force to the grasping portion 12a or the grasping portion 12b to move the grasping portion 12a or the grasping portion 12b. Specifically, the wire 26 and the wire 32 run over the jaw pulleys 24 for the grasping portion 12b, and the grasping portion 12b moves in an opening direction when the wire 26 is pulled and moves in a closing direction when the wire 32 is pulled. The wire 28 and the wire 30 run over the jaw pulleys 24 for the grasping portion 12a, and the grasping portion 12a moves in a closing direction when the wire 28 is pulled and moves in an opening direction when the wire 30 is pulled.
In some embodiments, each of the four guide pulleys 20 has a corresponding one of the wires 26, 28, 30 and 32 placed thereover. Each of the wires 26, 28, 30 and 32 runs over the corresponding one of the guide pulleys 20 so that the normal force applied to the support 14 from the first rotating shaft 16 is reduced when the grasping portions 12a and 12b are moved. More specifically, as illustrated in
Thus, when tension is applied to at least any one of the wires 26, 28, 30 and 32 for moving the grasping portions 12a and 12b, the tension causes a force acting on the support 14 via the guide pulleys 20. In the case of the forceps device 10 according to some embodiments, the tension applied to the wires 26, 28, 30 and 32 causes a force acting on the support 14 in directions toward the grasping portions 12a and 12b.
The support 14 is formed integrally with a support pulley 42 over which the wires 38 and 40 for transmitting a driving force for rotating the support about the first rotating shaft 16 run. Thus, when one of the wires 38 and 40 is pulled to turn the support 14, the tension of the wire 38 or 40 running over the support pulley 42 presses the support 14 toward the first rotating shaft 16. A normal force received by the support 14 from the first rotating shaft 16 is thus generated, which contributes to an increase in frictional force.
In the forceps device 10 according to some embodiments, however, the tension of the wires 26, 28, 30 and 32 for moving the grasping portions 12a and 12b causes a force acting on the guide pulleys 20 in the upward direction in
[Method for Producing Forceps Device]
Next, a method for producing the forceps device 10 according to some embodiments will be explained.
According to the manufacturing method, such a process as sandwiching a support by base member parts into which a base member is divided and then bonding the base member parts to each other need not be performed. In addition, such a process as coaxially arranging holes of a support, pulleys and a base member, and press-fitting a rotating shaft into the support while keeping the positions of the holes, which involves difficult adjustment, need not be performed.
[Grasping Portions]
Next, jaw parts constituting the grasping portions according to some embodiments will be described in detail.
As illustrated in
[How Wires Run Over Pulleys]
Next, the manner in which the wires 26, 28, 30 and 32 according to some embodiments run over the pulleys will be described in detail. The wire 26 runs between the guide pulley 20A and the jaw pulley 24c. The wire 28 runs between the guide pulley 20B and the jaw pulley 24a. The wire 30 runs between the guide pulley 20C and the jaw pulley 24b. The wire 32 runs between the guide pulley 20D and the jaw pulley 24d.
As illustrated in
In addition, as illustrated in
Furthermore, the forceps device 10 includes the guide pulley 34a on the upstream side of the guide pulley 20A (on the side opposite the grasping portions) and on the second side S2 with respect to the vertical cross section V, the guide pulley 34b on the upstream side of the guide pulley 20B and on the second side S2 with respect to the vertical cross section V, the guide pulley 34c on the upstream side of the guide pulley 20C and on the first side S1 with respect to the vertical cross section V, and the guide pulley 34d on the upstream side of the guide pulley 20D and on the first side S1 with respect to the vertical cross section V.
As a result, when the support 14 is bent in either direction about the first rotating shaft 16, one or more of the wires 26, 28, 30 and 32 come in contact with the associated one or more of the guide pulleys 20A to 20D, which stabilizes the controllability when the support 14 is turned. More specifically, when the support 14 is bent from the state illustrated in
While the present invention has been described above with reference to some embodiments, the present invention is not limited to some embodiments, and any combination or substitution of components in some embodiments as appropriate is included in the present invention. In addition, modifications such as combinations, changes in the order of processes, and various changes in design in some embodiments may be made on some embodiments on the basis of knowledge of a person skilled in the art, and such modified embodiments may be within the scope of the present invention.
This U.S. Application is a continuation application of International Application No. PCT/JP2020/034370 filed Sep. 10, 2020, in the Japanese Patent Office, the contents of which being incorporated by reference herein in its entirety.
Number | Date | Country | |
---|---|---|---|
Parent | PCT/JP2020/034370 | Sep 2020 | US |
Child | 18181034 | US |