Patent Application
20230210509
The present disclosure relates to a surgical tool.
Surgical tools used for medical procedures such as endoscopic surgeries have been known. Such a surgical tool includes a treatment portion that is manipulated by an operator such as a surgeon to perform a surgical procedure on a patient.
It is an aspect to provide a technique to improve usability of a surgical tool that includes an operation device having linearly-moving sliders.
According to an aspect of one or more embodiments, there is provided surgical tool comprising a slider disposed movably in a linear direction relative to a main body, the main body including at least a treatment portion configured to perform a medical procedure; a plurality of converters configured to move a converted movement amount which is obtained by converting a movement amount of the slider with a magnification factor; and a plurality of transmission wires configured to transmit the converted movement amount to the treatment portion.
According to another aspect of one or more embodiments, there is provided a surgical tool comprising a main body including a treatment portion; a slider disposed in the main body and configured to move linearly relative to the main body; a plurality of converters coupled to the slider and to the main body, and configured to move a converted movement amount which is obtained by applying a magnification factor to a movement amount of the slider; and a plurality of transmission wires coupled to the plurality of converters and the treatment portion, and configured to transmit the converted movement amount to the treatment portion.
According to yet another aspect of one or more embodiments, there is provided a surgical tool comprising a treatment portion including a movable portion at a distal end thereof; a main body coupled to the treatment portion; a slider disposed in the main body and having a first end and a second end, the slider configured to move linearly relative to the main body; two movable pulleys; two conversion wires corresponding respectively to the two movable pulleys, a first conversion wire of the two conversion wires attached to the first end of the slider and to the main body, and wrapped around a first movable pulley of the two movable pulleys, and a second conversion wire of the two conversion wires attached to the second end of the slider and to the main body, and wrapped around a second movable pulley of the two movable pulleys; and a transmission wire having a first end attached to a rotational shaft of the first movable pulley and a second end attached to a rotational shaft of the second movable pulley, the transmission wire being coupled to a rotational shaft of the movable portion.
The above and/or other aspects will become apparent from the following description of various embodiments and with reference to the following drawings, in which:
A related art surgical tool may include a treatment portion disposed, for example, on a leading end of the surgical tool, and an operation device for an operator to manipulate. The manipulation on the operation device is transmitted to the treatment portion through a wire, which causes the treatment portion to move in response to the manipulation by the operator.
In this type of the surgical tool, a slider included in the operation device moves linearly, and the linear movement of the slider is transmitted to the treatment portion though the wire or the like. Accordingly, the treatment portion moves for a movement amount corresponding to the manipulation of the slider.
However, for example, when performing a delicate movement with the treatment portion, in other words, when a rather minute amount of operation is requested at the treatment portion, it is necessary to manipulate the slider for that amount of operation. This requires a delicate manipulation of the slider which has been difficult.
According to some embodiments, there is provided a surgical tool including a slider, converters, and transmission wires. The slider is disposed movably in a linear direction relative to a main body. The main body includes at least a treatment portion for performing a medical procedure. The converters move for a converted movement amount which is obtained by converting the movement amount of the sliders with a specified magnification factor. The transmission wires transmit the converted movement amount to the treatment portion.
With such a configuration, the movement amount of the linearly-moving slider is converted by the converters with the specified magnification factor. Thus, the converted movement amount converted by the converters with the specified magnification factor is what is transmitted to the treatment portion. Accordingly, for example, by decreasing the specified magnification factor, the converted movement amount is reduced relative to the movement amount of the slider. As a result, the treatment portion moves in accordance with the converted movement amount, therefore, it becomes easier to perform a delicate work. In other words, it is possible to improve the usability of the surgical tool that includes an operation device having a linearly-moving slider.
In some embodiments, each of the converters may include conversion wires, and movable pulleys. The conversion wires each have a first end attached to the sliders and a second end attached to the main body. The conversion wires are disposed along circumferential surfaces of the movable pulleys.
With such a configuration, the movement amount of the slider can be converted with the specified magnification factor by the movable pulleys and the conversion wires. Since it is possible to perform the conversion with the specified magnification factor by disposing the movable pulleys, it is not necessary to dispose an additional structure such as a lever. Therefore, it becomes easier to inhibit upsizing of the structure of the surgical tool due to the disposal of the structure such as the lever.
In some embodiments, the converters may be disposed on one side and on an opposite side of moving directions of the slider.
With such a configuration, it is possible to transmit the converted movement amount, obtained by converting the movement amount of the slider with the specified magnification factor, to the treatment portion by using the converters disposed on one side and the opposite side of the moving directions of the slider.
Below, some embodiments will be described with reference to the drawings.
[1. Configuration]
A surgical tool 1 according to some embodiments may be a medical instrument used in medical practices such as surgeries.
Structures of the surgical tool 1 will be explained with reference to
As shown in
The treatment portion 10 is a part of the surgical tool 1 used for performing a treatment in a medical practice. For example, the treatment portion 10 is formed to have an elongated shape, and a first end of the elongated shape is coupled to the main body 20.
The treatment portion 10 includes a movable portion 11 at least on a part of the treatment portion 10.
The movable portion 11 is disposed on a leading end of the treatment portion 10, namely a second end, that is situated opposite the first end where the treatment portion 10 is coupled to the main body 20. The location where the movable portion 11 is situated is not limited to the end of the treatment portion 10 coupled to the main body 20 and the opposite end; the movable portion 11 may be situated on the treatment portion 10 at a location other than the said ends.
As shown in
The open and close movement of the branches of the movable portion 11 may be caused by transmission of a drive force to the branched structure. A joint 13 that rotates in a direction to adjust the orientation of the head portion may be disposed; and the movement to adjust the orientation of the head portion may be caused by a structure in which the rotation of the joint 13 may adjust the orientation of the head portion of the movable portion 11. The joint 13 disposed in the movable portion 11 may include a first rotational shaft 13A in right-left directions (x-axis directions as mentioned later) and a second rotational shaft 13B in up-down directions (z-axis directions as mentioned later). In other words, the joint 13 is rotationally displaceable about the rotational shafts 13A and 13B as center axes. The first rotational shaft 13A is a shaft perpendicular to longitudinal directions of the treatment portion 10. The second rotational shaft 13B is a shaft perpendicular to the longitudinal directions of the treatment portion 10 and to the first rotational shaft 13A.
In some embodiments, the movable portion 11 is formed to have a structure that responds to an operation of the treatment portion 10. The movable portion 11 is not limited to having both a structure that enables holding an object and releasing the object and a structure to rotate the head portion to adjust the orientation of the head portion. The movable portion 11 may include either one of a structure that enables holding an object and releasing the object or a structure to rotate the head portion to adjust the orientation of the head portion. The movable portion 11 may also be configured to be able to perform a different movement.
Elements and parts used to cause the treatment portion 10 to operate are arranged in the main body 20.
As shown in
Up-down directions of the main body 20 are also referred to as the z-axis directions. The upward direction is also referred to as a z-axis positive direction; the downward direction is also referred to as a z-axis negative direction. In addition, long-side directions of a rectangle of an opening of the main body 20, in other words, the longitudinal directions of the treatment portion 10 coupled to the main body 20, are referred to as y-axis directions. When viewing from the main body 20, a direction where the treatment portion 10 is positioned is also referred to as a y-axis positive direction; the opposite direction is also referred to as a y-axis negative direction. In addition, an axis perpendicular to a y-z plane is referred to as an x-axis. When facing the y-axis positive direction and having the z-axis positive direction as an upper direction, the left side is also referred to as an x-axis positive direction, and the right side is also referred to as an x-axis negative direction. The x-axis directions are also referred to as right-left directions, and z-axis directions are also referred to as up-down directions. In addition, a surface of the main body 20 that can be seen when viewing the main body 20 from the z-axis positive side to the z-axis negative side is also referred to as a front surface. A surface of the main body 20 that can be seen when viewing the main body 20 from the z-axis negative side to the z-axis positive side is also referred to as a rear surface.
As shown in
The sliders 21 are each arranged inside the apertures 22 formed in the main body 20 such that each slider 21 is movable along the longitudinal direction of the aperture 22. By making a reciprocating movement, each slider 21 generates a drive force for displacing the movable portion 11.
Each slider 21 is formed into a rectangular solid and arranged such that the long side of the rectangular solid aligns with the longitudinal direction of the rectangular (aperture). At least a part of surfaces of each slider 21 exposes from an upper surface and a lower surface of the main body 20.
An end portion of the conversion wire 27 is fixed to an end of each slider 21 in the y-axis directions.
The other end portion of the conversion wire 27, opposite the end portion fixed to the slider 21, includes a fixed portion 29 that is to be fixed to the main body 20. The fixed portion 29 is fixed to the main body 20. The location to dispose the fixed portion 29 is not particularly limited; however, the fixed portion 29 may be disposed, for example, in an area of the main body 20 adjacent the aperture 22 and close to the center in the x-axis directions.
One movable pulley 23 is disposed for one conversion wire 27. The movable pulley 23 is arranged such that one conversion wire 27 is disposed along a circumferential surface of the movable pulley 23. One slider 21 is disposed between two movable pulleys 23. The movable pulley 23 is disposed such that a rotational shaft of the movable pulley 23 extends in the up-down directions, in other words, in the z-axis directions.
An element that holds the rotational shaft of the movable pulley 23 is coupled to the transmission wire 25. The transmission wire 25 is configured to transmit the drive force to move the treatment portion 10 and the movable portion 11. The transmission wire 25 is not limited to being coupled to the element that holds the rotational shaft of the movable pulley 23. In some embodiments, the transmission wire 25 may also be coupled directly to the rotational shaft of the movable pulley 23. In other words, the transmission of the drive force may be achieved directly or indirectly as long as it is configured such that the drive force can be transmitted between the rotational shaft of the movable pulley 23 and the treatment portion 10 and the movable portion 11.
A first end of the transmission wire 25 is attached to the rotational shaft of the movable pulley 23 situated close to the treatment portion 10. A second end of the transmission wire 25, which is different from the first end of the transmission wire 25, is attached to the rotational shaft of the movable pulley 23 situated away from the treatment portion 10. The transmission wire 25 extends towards the treatment portion 10 and the movable portion 11 from the movable pulley 23 situated close to the treatment portion 10. The transmission wire 25 returns at the treatment portion 10 and the movable portion 11. The transmission wire 25 returned at the treatment portion 10 and the movable portion 11 then returns along a fixed pulley 24 that is fixed to the main body 20. The transmission wire 25 returned along the fixed pulley 24 is then attached to the rotational shaft of the movable pulley 23 situated opposite the treatment portion 10 relative to the slider 21. Displacement of the slider 21 is transmitted to the transmission wire 25 through the movable pulleys 23 and the fixed pulley 24.
The transmission wires 25 are directly or indirectly coupled to the holding portion 11A and the holding portion 11B, which are branched, and to the joint 13. The transmission wires 25 are not limited to being directly or indirectly coupled to the holding portion 11A and the holding portion 11B, which are branched, and to the joint 13 as long as the drive force for making a movement is transmitted to the movable portion 11.
The transmission wire 25 coupled to one of the sliders 21 may be coupled to a holding structure; and the transmission wire 25 coupled to one of the sliders 21 may be arranged on a circumferential surface of a rotating portion of the joint 13, which is included in the movable portion 11 and has a structure to adjust the orientation of the movable portion 11.
The movable pulley 23 and the conversion wire 27 correspond to one example of a configuration of a converter. That is, the converter may include the movable pulley 23 and the conversion wire 27.
[2. Movement (Operation)]
Movement of the sliders 21, the movable pulleys 23, and the transmission wires 25 in addition to the movement of the movable portion 11 will be explained.
In response to a manipulation by an operator, each slider 21 linearly moves inside the aperture 22 in the longitudinal directions of its rectangular shape.
The conversion wire 27, attached to the end of the slider 21, simultaneously moves with the linear movement of the slider 21. This movement causes the movable pulley 23, on the circumferential surface on which the conversion wire 27 is arranged, to move. Then, by the movement (displacement) of the first end of the transmission wire 25 coupled to the rotational shaft of the movable pulley 23, the drive force is transmitted to the second end of the transmission wire 25 coupled to the movable portion 11. The transmission wire 25 moves in accordance with a movement amount of the linear movement of the slider 21. The movement amount of the transmission wire 25 is also referred to as a converted movement amount.
The converted movement amount changes in accordance with the number of movable pulleys 23 that move in conformity with the movement of the sliders 21. Specifically, as shown in
Due to the linear movement of the sliders 21, the drive force applied to the transmission wire 25 and the converted movement amount are transmitted to the movable portion 11. The movable portion 11 moves in accordance with the transmitted converted movement amount of the transmission wire 25 and the transmitted drive force.
In some embodiments, the movement of the movable portion 11 in accordance with the transmitted converted movement amount of the transmission wire 25 and the transmitted drive force is, for example, a holding movement and a release movement by the holding portion 11A and the holding portion 11B, and a rotational movement of the joint 13. In other words, the holding movement and the release movement may be made by the holding portion 11A and the holding portion 11B approaching or separating from each other about the center axis O in response to the movement of the transmission wire 25 that directly or indirectly transmits the drive force and the converted movement amount to the holding portion 11A and the holding portion 11B. The movable portion 11 may be configured to accordingly open the holding structure at its head portion for the converted movement amount.
In some embodiments, the joint 13 may make a rotational displacement movement about the rotational shaft 13A and the rotational shaft 13B in response to the movement of the transmission wire 25 that directly or indirectly transmits the drive force and the converted movement amount to the joint 13. The orientation of the head portion of the movable portion 11 may be configured to be adjusted accordingly for the converted movement amount.
In some embodiments, the movement amount of the linear movement of the slider 21 is converted to the converted movement amount by the movable pulleys 23 and the conversion wires 27, and the transmission wire 25 moves for the converted movement amount. The movement amount of the transmission wire 25 is transmitted to the movable portion 11, and the movable portion 11 moves in accordance with the movement amount of the transmission wire 25.
By increasing the number of the movable pulleys 23 and the conversion wire 27 that receives the transmission of the movement amount of the slider 21, the converted movement amount of the transmission wire 25 relative to the movement amount of the slider 21 is reduced, and accordingly, the converted movement amount transmitted to the movable portion 11 is reduced.
Consequently, it becomes easy to perform a detailed work since the movable portion 11 of the treatment portion 10 moves in accordance with the converted movement amount. In other words, usability of the surgical tool 1 that includes an operation device having the linearly-moving sliders 21 can be improved.
In some embodiments, by changing the number of the movable pulleys 23 and the conversion wires 27, the converted movement amount of the transmission wire 25 relative to the movement amount of the linear movement of the slider 21 can be changed. In other words, the converted movement amount of the transmission wire 25 relative to the movement amount of the sliders 21 can be changed depending on the number of the fixed pulleys changed to the movable pulleys 23. Accordingly, it is not necessary to dispose a structure such as a lever to change the movement amount of the transmission wire 25. Therefore, upsizing of the main body 20 can be inhibited compared with a case where an element such as a lever is disposed.
[Modifications]
As described above, the number of the sliders 21 is two or more. However, embodiments are not limited thereto and, in some embodiments, the number of the sliders 21 is not limited to a plural number and may be one.
As described above, an example is provided in which two movable pulleys 23 moves for one slider 21. However, the number of the movable pulleys 23 that moves for the slider 21 is not limited to two. In some embodiments, the number of the movable pulleys 23 that moves for the slider 21 may be greater or less than two.
As the number of the movable pulleys 23 that moves relative to the number of the slider 21 increases, the movement amount of each movable pulley 23 relative to the movement amount of the slider 21 decreases. Accordingly, it is possible to adjust the amount of operation of the movable portion 11 relative to the amount of manipulation on the slider 21 by adjusting the number of movable pulleys 23 that is coupled to the slider 21.
Each of the transmission wires 25 may be coupled to a different part of the movable portion 11.
In response to a movement of each of the transmission wires 25 coupled to different parts of the movable portion 11, the movable portion 11 may move differently in accordance with the moved transmission wire 25.
Specifically, for example, two holding portions respectively holding the yz-plane and xy-plane may be disposed, and the transmission wire 25 for transmitting the drive force may be coupled to each of the holding portions such that the orientation (direction) to make the holding movement and the orientation (direction) to make the releasing movement are different.
The movement of the movable portion 11 is not limited to the holding movement. In some embodiments, the movable portion 11 may be formed to make a rotational movement to be able to adjust the orientation of the head portion of the movable portion 11.
It may be configured such that the holding movement is achieved by manipulating one of the sliders 21 corresponding to one of the transmission wires 25 and such that the rotational movement of the head portion is achieved by manipulating another one of the sliders 21 corresponding to another one of the transmission wires 25.
As described above, the movable pulleys 23 move in accordance with the movement of the corresponding sliders 21. However, the movable pulleys 23 are not limited to those that move in accordance with the movement of the sliders 21. That is, embodiments are not limited thereto and, in some embodiments, the movable pulleys 23 may be configured to be changeable between a fixed state and a movable state.
As described above, the exposed parts of the sliders 21 is configured to be manipulated by the operator and displaced. However, the sliders 21 are not limited to those whose exposed parts are directly manipulated by the operator. For example, in some embodiments, each slider 21 may be displaced by receiving a drive force from a pneumatic cylinder and the like.
Two or more functions of a single element in the surgical tool 1 described above may be achieved by two or more elements, and a single function of a single element may be achieved by two or more elements. Two or more functions of two or more elements may be achieved by a single element, and a single function achieved by two or more elements may be achieved by a single element. In some embodiments, a part of the configurations discussed above may be omitted. Furthermore, at least a part of the configurations discussed above may be added to or replaced with another configuration described above.
It is to be understood that the present disclosure is not limited to the above embodiments, but various changes and modifications may be made therein without departing from the spirit and scope thereof as set forth in appended claims.
This application is a continuation of International Application No. PCT/JP2020/033087, filed Sep. 1, 2020 in the Japan Patent Office, the contents of which being herein incorporated by reference in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP20/33087 | Sep 2020 | US |
| Child | 18176045 | US |
