Patent Grant
9161772
1. Field of the Invention
The present invention relates to a surgical instrument and a medical manipulator.
2. Description of Related Art
A conventionally known medical manipulator is a master-slave type medical manipulator including a master manipulator operated by an operator and a slave manipulator that operates on the basis of signals sent from the master manipulator. A surgical instrument has a treatment part for treating a treatment target portion by remote-control operation, and is attached to the medical manipulator.
For example, Japanese Unexamined Patent Application, First Publication No. 2001-277157 discloses a medical manipulator that enables a plurality of treatment parts appropriate for treatment to be switchingly attached to the arm of one slave manipulator.
According to a first aspect of the present invention, a surgical instrument for performing treatment to a treatment target portion includes: a cylindrical elongated member with a long axis, a treatment part connected to the elongated member, and a connection part that detachably connects the elongated member to the treatment part. The connection part includes a first turning axis part provided to the elongated member, a second turning axis part provided to the treatment part, a first rolling guide part that is provided to the elongated member and includes a circular-arc-shaped part coaxial with the first turning axis part, a second rolling guide part that is provided to the treatment part and includes a rolling guide part having a circular-arc-shaped part coaxial with the second turning axis part, the rolling guide part rollingly contacting the first rolling guide part, and an engaging part that brings the treatment part and the elongated member into an engaging state. The connection part is detachable between the first turning axis part and the second turning axis part.
The engaging part may include a main unit that is connected to the first turning axis part and is capable of engaging with the second turning axis part, a ring-shaped member that is provided separately from the main unit, and binds the main unit together with the second turning axis part, and a locking member that switches between a bound state and a released state, wherein in the bound state, the ring-shaped member is arranged in a position where it binds the main unit and the second turning axis part, and in the released state, the ring-shaped member is arranged in a position deviated from the position where it binds the main unit and the second turning axis part.
The main unit may include a groove that engages with the ring-shaped member and defines its movement direction. The locking member may include a groove and is capable of moving relative to the main unit. When the groove provided in the ring-shaped member and the groove provided in the main unit are in a communicating state, the locking member is capable of switching between the bound state and the released state. When the groove provided in the locking member and the groove provided in the main unit are in a non-communicating state, the treatment part is held in the bound state with respect to the elongated member.
The surgical instrument of the above aspect may further include: a treatment tool piece provided on the treatment part and is capable of operating, a joint for operating treatment tool piece that connects the elongated member to the treatment tool piece, and a moving member that is connected to the joint for operating treatment tool piece in order to operate the treatment tool piece. The joint for operating treatment tool piece may include a first operation turning member that is connected to the moving member and turns around a predetermined center of turning, a second operation turning member that is connected to the first operation turning member such that it turns in the opposite direction relative to the first operation turning member coaxial with the second turning axis part or around a center of turning that is nearer to the first turning axis part than the second turning axis part, and a link that converts the rotational force of the second operation turning member to an operation of the treatment tool piece. The joint for operating treatment tool piece is detachable between the first operation turning member and the second operation turning member by being detachable from the connection part.
The surgical instrument may include a pair of the treatment tool pieces, the operation of the treatment tool pieces being an operation of opening and closing them.
According to a second aspect of the present invention, a medical manipulator includes: the surgical instrument described above, a slave manipulator including at least one joint, the surgical instrument being attached to the slave manipulator, and a master manipulator that sends operating commands for driving the joint of the slave manipulator.
A surgical instrument 1 and a medical manipulator 100 according to one embodiment of the present invention will be explained.
The surgical instrument 1 is attached to the medical manipulator 100 as one part thereof.
Firstly, the configuration of the medical manipulator 100 of the embodiment will be explained. As shown in
The master manipulator 101 functions as a master for transmitting the movements of the operations performed by the surgeon to the slave manipulator 120, and includes a master display unit 102 such as a liquid crystal display device, and an operation unit 103 which the surgeon grasps and operates. Operations performed to the operation unit 103 of the master manipulator 101 are input to the control device 110.
The control device 110 includes a master-side control device 111 that receives the input from the master manipulator 101, and a slave-side control device 112 that outputs a drive signal to the slave manipulator 120.
Based on the input from the master manipulator 101, the master-side control device 111 generates an operating command for operating the slave manipulator 120, and outputs it to the slave-side control device 112.
Based on the operating command from the master-side control device 111, the slave-side control device 112 generates a drive signal for driving the slave manipulator 120, and outputs it to the slave manipulator 120.
The slave manipulator 120 includes a slave arm 121 that operates in compliance with the drive signal from the slave-side control device 112. The surgical instrument 1 of this embodiment is attached to this slave arm 121. In addition to the surgical instrument 1 of this embodiment, a treatment instrument for performing surgery, an endoscope, and such like, can be attached to the slave manipulator 120.
Subsequently, the configuration of the surgical instrument 1 will be explained.
The surgical instrument 1 is a medical instrument for performing treatment to a treatment target portion. As shown in
In the explanation hereinafter, the side of the surgical instrument 1 including the treatment part 6 will be referred to as the distal side, and the side of the surgical instrument 1 including the drive control unit 45 will be referred to as the proximal side.
The elongated member 2 is a cylindrical member with a long axis. The elongated member 2 may be flexible or rigid depending on the configuration of the slave arm 121 that it is attached to. In the embodiment, the elongated member 2 is rigid.
As shown in
The treatment part 6 is provided for treating the treatment target portion. In the embodiment, as shown in
The connection part 10 connects the elongated member 2 and the treatment part 6. The connection part 10 includes a double joint for bending 11 for bending the treatment part 6 with respect to the elongated member 2, and a joint for opening-closing 27 (joint for operating treatment tool piece) for opening and closing the forceps pieces 7a and 7b.
The double joint for bending 11 includes a first fitting-cogs part 12 (first rolling guide part) fixed to the distal end of the elongated member 2, a first turning axis part 13 connected to the distal end of the elongated member 2, a second turning axis part 14 that extends parallel with the first turning axis part 13 and is connected to the treatment part 6, a second fitting-cogs part 15 (rolling guide part; second rolling guide part) fixed to the treatment part 6, and an engaging part 16 that switches the connecting state of the treatment part 6 and the elongated member 2.
The first fitting-cogs part 12 has gear-like dent provided in a circle around (circular-arc-shaped part) the center of turning of the first turning axis part 13. The second fitting-cogs part 15 has gear-like dent provided in a circle around (circular-arc-shaped part) the center of turning of the second turning axis part 14, and interlocks with the first fitting-cogs part 12. The cogs of the first fitting-cogs part 12 and the second fitting-cogs part 15 are provided in circles of equal radii, so that their relationship is set at a ratio of 1:1.
The second fitting-cogs part 15 can rotate while moving along the circumference of the first fitting-cogs part 12. Incidentally, plate-like members that move relatively with contact between their outer peripheral parts due to friction may be provided instead of the first fitting-cogs part 12 and the second fitting-cogs part 15.
While in the embodiment, the configuration is one where the first fitting-cogs part 12 and the second fitting-cogs part 15 are brought into frictional contact through the interlocking of cogs, the configuration need not be limited to this. For example, instead of frictional contact through interlocking of cogs, the configuration can be a mechanism that enables two rotating bodies to rotate and roll smoothly, such as one where two rubber rollers with no interlocking cogs (and large friction) are brought into frictional contact.
The first turning axis part 13 and the second turning axis part 14 are parallel with each other and have centers of turning that extend orthogonal to the extension line of the long axis of the elongated member 2.
As shown in
The main unit 17 maintains a constant distance between the first fitting-cogs part 12 and the second fitting-cogs part 15. The rod for bending 4 of the connecting rod 3 is connected to the main unit 17. When the rod for bending 4 is advanced and retracted in the long-axis direction of the elongated member 2, the main unit 17 turns around the first turning axis part 13. As a result, the second turning axis part 14 swings around the first turning axis part 13.
The main unit 17 is connected to the first turning axis part 13 such that it can turn relative thereto and cannot be disconnected.
Moreover, the main unit 17 can engage with the second turning axis part 14 such that the treatment part 6 reaches a predetermined attachment direction with respect to the main unit 17, and can be attached and detached to/from the second turning axis part 14.
The main unit 17 is provided with a guide 18 for limiting the movement direction of the ring-shaped member 19. In the embodiment, the guide 18 has a groove formed in the outer face of the main unit 17 and extending in one direction. A protrusion 20 is formed on the ring-shaped member 19 and fits into the groove that forms the guide 18. The ring-shaped member 19 thus moves along the groove.
The ring-shaped member 19 is provided separately from the main unit 17, and binds it and the second turning axis part 14. That is, one part of the main unit 17 and one part of the second turning axis part 14 are inserted into the ring-shaped member 19, and the ring-shaped member 19 binds the main unit 17 and the second turning axis part 14 together. The protrusion 20 is provided on the ring-shaped member 19, and fits into the groove (guide 18) formed in the main unit 17.
When the ring-shaped member 19 is arranged in a position where it binds the main unit 17 and the second turning axis part 14, the treatment part 6 is in a state of being connected to the elongated member 2 (hereinafter ‘bound state’). When the ring-shaped member 19 is arranged in a position deviated from the position where it binds the main unit 17 and the second turning axis part 14, the treatment part 6 is in a state where it can be detached from the elongated member 2 (hereinafter ‘released state’).
The locking member 21 is provided for switching between the bound state and the released state. The locking member 21 includes a groove 22 that can communicate with the groove (guide 18) formed in the main unit 17. As one part of the guide 18 formed in the main unit 17, the groove 22 formed in the locking member 21 has the function of limiting the movement direction of the ring-shaped member 19.
The locking member 21 can turn around the center of turning of the first turning axis part 13. When a rotational force around the center of turning of the first turning axis part equal to or greater than a predetermined level has acted as an external force against the locking member 21, the locking member 21 can turn around the center of turning of the first turning axis part 13 relative to the main unit 17. That is, by rotating the locking member 21, an operator can rotate the locking member 21 relative to the main unit 17, and switch the communicating state between the groove 22 formed in the locking member 21 and the guide 18 formed in the main unit 17. In a state where the abovementioned external force for rotating the locking member 21 is not being applied, the locking member 21 integrally operates the main unit 17.
When the groove 22 formed in the locking member 21 and the guide 18 formed in the main unit 17 are in the communicating state, the ring-shaped member 19 can move freely along the groove 22 formed in the locking member 21 and the guide 18 formed in the main unit 17. When the groove 22 formed in the locking member 21 and the guide 18 formed in the main unit 17 are in a non-communicating state, the ring-shaped member 19 cannot enter the groove 22 formed in the locking member 21. Therefore, when the groove 22 formed in the locking member 21 and the guide 18 formed in the main unit 17 are in the non-communicating state in the bound state mentioned above, the treatment part 6 is held in the bound state with respect to the elongated member 2.
As shown in
While in the embodiment, the first gear for opening-closing 23 and the second gear for opening-closing 24 are brought into frictional contact through the interlocking of cogs, the configuration need not be limited to this. For example, instead of frictional contact through interlocking of cogs, the configuration may be a mechanism that enables two rotating bodies to rotate and roll smoothly, such as one where two rubber rollers with no interlocking cogs (and large friction) are brought into frictional contact.
The link elements 26a and 26b shown in
In the embodiment, the link element 25 of the joint for opening-closing 27 constitutes a toggle mechanism, with the grasping force of the forceps pieces 7a and 7b increasing exponentially as they move in the closing direction.
The drive control unit 45 shown in
Subsequently, the effects of the surgical instrument 1 and the medical manipulator 100 of this embodiment will be explained, focusing on the operating principles and effects of the surgical instrument 1.
The surgical instrument 1 is used in the state where the treatment part 6 and the elongated member 2 are connected at the double joint for bending 11 and the joint for opening-closing 27. It is also possible to detach the treatment part 6 from the elongated member 2, and to attach another treatment part 6 to the elongated member 2. For example, treatment can be performed while switching among different types of treatment parts 6, and a treatment part 6 that has suffered an operational malfunction or the like can be replaced with a new treatment part 6 so that treatment can be continued.
The effects when using the surgical instrument 1 will be explained.
The double joint for bending 11 can be operated by using the actuator 46 to advance and retract the rod for bending 4. The joint for opening-closing 27 can be operated independently from the double joint for bending 11 by using the actuator 46 to advance and retract the rod for opening-closing 5.
The effects of the double joint for bending 11 will be explained.
If the rod for bending 4 is advanced and retracted without advancing and retracting the rod for opening-closing 5, as shown in
In this case, at the double joint for bending 11, the main unit 17 is moved at an angle corresponding to the ratio between the radius of the first fitting-cogs part 12 and the radius of the second fitting-cogs part 15.
For example, when r1 is the radius of the first fitting-cogs part 12, r2 is the radius of the second fitting-cogs part 15, φ is the rotation angle of the main unit 17, and φ is the rotation angle of the treatment part 6, then
r2(φ−θ)=r10 (1)
φ={(r1+r2)/r2}θ (2)
For example, when the ratio between radius r1 of the first fitting-cogs part 12 and the radius r2 of the second fitting-cogs part 15 is 1:1 (r1=r2) as it is in this embodiment, this gives:
θ=2θ.
Therefore, when the main unit 17 is moved 45-degrees around the first turning axis part 13, the second fitting-cogs part 15 provided on the treatment part 6 side tilts 90-degrees with regard to the first fitting-cogs part 12. That is, this is an acceleration mechanism that makes it possible to reduce the amount of angular movement of the main unit 17 with respect to the amount of angular movement of the treatment part 6.
Subsequently, the effects when the treatment part 6 is made detachable from the elongated member 2 will be explained.
When it becomes necessary to detach the treatment part 6 from the elongated member 2, the locking member 21 is rotated relative to the main unit 17, whereby the groove 22 formed in the locking member 21 and the guide 18 formed in the main unit 17 are changed from the non-communicating state (see
When the groove 22 formed in the locking member 21 and the guide 18 formed in the main unit 17 are in the communicating state, the ring-shaped member 19 can move along the groove 22 in the locking member 21 from the second turning axis part 14 side to the first turning axis part 13 side. As shown in
In the embodiment, whatever the bend state of the double joint for bending 11, and whatever the open-close state of the joint for opening-closing 27, the treatment part 6 can be detached from the elongated member 2.
Another treatment part 6 can then be attached, or the detached treatment part 6 can be cleaned before re-attaching it.
When attaching the treatment part 6 to the elongated member 2, the treatment part 6 is positioned such that the first fitting-cogs part 12 interlocks with the second fitting-cogs part 15 and the first gear for opening-closing 23 interlocks with the second gear for opening-closing 24, the second turning axis part 14 is made to engage with the main unit 17, and the ring-shaped member 19 is used to bind the second turning axis part 14 and the main unit 17 together. Thereafter, the locking member 21 is rotated with respect to the main unit 17 so that the groove 22 formed in the locking member 21 and the guide 18 formed in the main unit 17 are in the non-communicating state.
It thus becomes possible to use the treatment part 6 attached to the elongated member 2.
Generally, to prevent infection, a medical manipulator is washed and disinfected each time surgery is performed.
For example, in the case of the medical manipulator described in Japanese Unexamined Patent Application, First Publication No. 2001-277157, the treatment part can be made detachable from the slave manipulator, and maintenance such as washing and disinfection is therefore easy. However, since a great many components are required to realize a configuration that enables the treatment part to be made detachable, the treatment part of the medical manipulator described in Japanese Unexamined Patent Application, First Publication No. 2001-277157 has a complex structure, and cannot be said to be easier to wash.
In contrast, according to the surgical instrument 1 and the medical manipulator 100 of this embodiment, since the main unit 17 and the second turning axis part 14 are bound by the ring-shaped member 19, the treatment part 6 can be made detachable from the elongated member 2 with a simple configuration.
Also, according to the surgical instrument 1 and the medical manipulator 100 of this embodiment, the increase in the number of components for attaching and detaching the treatment part 6 is less than that of the art described in surgical instrument 1.
Since the treatment part 6 is made detachable from the elongated member 2 by attaching and detaching the first turning axis part 13 to and from the second turning axis part 14, the components of the joint section for changing the direction of the treatment part 6 with respect to the elongated member 2 can be for making the treatment part 6 detachable. Therefore, in the surgical instrument 1 and the medical manipulator 100 of the embodiment, the number of components is not considerably greater than a configuration where the treatment part 6 is not detachable.
Subsequently, a modified example of the embodiment will be explained.
As shown in
As shown in
When the claw parts 48 of the distal members 17A are pressed into the recessed parts 49 of the proximal members 17B, the proximal members 17B and the distal members 17A elastically deform slightly, and the claw parts 48 enter the recessed parts 49. The treatment part 6 is thus engaged with the elongated member 2.
This configuration achieves effects similar to those of the embodiment described above.
In addition, the modified example has fewer components than the embodiment described above.
While in the embodiment including the modified example described above, the example of an operation of a treatment tool piece is one of opening and closing a pair of treatment tool pieces, namely the forceps pieces 7a and 7b, the configuration is not limited to that. For example, the operation can be one which is bending (turning) a single treatment tool piece. The treatment tool piece can be a medical instrument other than forceps pieces.
Subsequently, another modified example of the embodiment will be explained.
As shown in
The elongated member 2 includes a lead wire 51 that is electrically connected to the electric scalpel electrode 50. The lead wire 51 and the electrode 50 are detachably connected via a plug 52. The treatment part 6 of the modified example need not be connected to the joint for opening-closing 27, and need not include the joint for opening-closing 27. Also, in the modified example, the joint for opening-closing 27 and the rod for opening-closing 5 need not be provided.
This type of configuration achieves effects similar to those of the embodiment described above.
While an embodiment of the invention has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment.
For example, it is acceptable to use a treatment part that bends at the first turning axis part and does not include the second turning axis part described above.
Various other additions, omissions, substitutions, and other changes can be made to the configuration without deviating from the main points of the invention.
The invention is not limited to the forgoing description, and is limited only by the accompanying claims.
Priority is claimed on U.S. Provisional Patent Application No. 61/515,203 filed Aug. 4, 2011, the content of which is incorporated herein by reference.
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