CN103068333A - Surgical Instruments - Google Patents

Abstract

The invention provides a bending device for a surgical instrument, an instrument having a multifunctional surgical device, and an actuator structure of the instrument, which can freely bend a distal end operation part in the surgical instrument.

Description

Surgical operating instrument

Technical field

The present invention relates to bending apparatus, multifunction structure and the actuator structure of surgical operating instrument.

Background technology

Operation medically refers to use medical apparatus and instruments that skin, mucosa or other tissue are cut, cut or operate and cures focus.Particularly, cutting operation position skin and its internal waited is treated, the laparotomy ventrotomy of shaping or excision etc., owing to the problems such as hemorrhage, side effect, patient suffering, cicatrix occur, scheme as an alternative uses the laparoscopic surgery of robot (robot) to enjoy great popularity recently.

This operating robot comprises main (master) robot and from (slave) robot, this main robot operates the generation desired signal by the doctor and transmits, should be from robot from main robot receive after the signal directly the action required of performing the operation to the patient, main robot and can whole consist of from robot, perhaps consist of with independent device respectively, and be configured under the state of operating room and perform the operation.

Operating robot possesses apparatus (instrument), and this apparatus is inserted under the state from the robotic arm of robot in human body skin mucosa or the skin and carries out the surgical operations such as incised tissue to be installed in.

This apparatus at present application for realize end effector (end effector), be terminal operating portion free operant and therebetween section possess the apparatus of bending apparatus.

At first, watch the bending apparatus of apparatus with reference to prior art.Fig. 1 to Fig. 7 is United States Patent (USP) 7320700 disclosed accompanying drawings.At this, directly added the disclosed accompanying drawing of U.S. Patent bulletin, and Reference numerals etc. change not, and centered by major part, describe.

Fig. 1 is the sketch map of apparatus (instrument) that expression possesses bending apparatus, and usually, this apparatus is installed in from the enterprising line operate of the robotic arm of robot, perhaps is connected on the operating portion of manual (hand-held) operating theater instruments to carry out surgical operation.

In Fig. 1,Reference numeral 10 expressions are as the toggle (wrist) of the main composition section of bending apparatus, andReference numeral 12 represents terminal operating portion, the body shaft thatReference numeral 14 expressions are connected with operating portion.

Fig. 2 is the details drawing that the bending apparatus part centered by describedtoggle 10 is shown,toggle section 10 constitutes, be provided with thecable 24 that is connected withhypotube 26 having the coiling of helical spring structure (wrap) 34 inboards, and the outside structure that possessescollapsible tube 36,hypotube 26 during by push-and-pull coiling 34 andcollapsible tube 36 play and makecable 24 keep the separately effect of fixed range.

Yet, bending apparatus as shown in Figure 2, utilize coiling 34 andcollapsible tube 36 to keep case of bending based onhypotube 26 andcable 24, therefore, when having complicated integral structure because the problem of the case of bending supporting force that the retractility ofcollapsible tube 36 causes providing enough.Described bending apparatus by wind theline 34 andcollapsible tube 36 keep case of bending, yet terminal operating portion be applied in the situation of power, only by wind theline 34 andcollapsible tube 36 be difficult to guarantee for the more powerful supporting force that keeps case of bending.Therefore, the problem of the reliability decrease of apparatus occurs.

On the other hand, another technology of the above-mentioned United States Patent (USP) that is disclosed by Fig. 3 to Fig. 5 is the structure that is inserted with two disks 224 betweenhelical spring 222, side-prominently be formed withtongue piece 226 in two of disk 224 inside, in order to be inserted between thehelical spring 222 this moment as shown in Figure 4 and Figure 5.At this moment, the tongue piece of two disks is inserted between thehelical spring 222 from diverse location with 90 ° of angles.

In addition, Fig. 6 and Fig. 7 are representative rings around described helical spring and the outer arrangement that arranges.

And, another technology of aforesaid United States Patent (USP) also is complicated integral structure, particularly, constitutes and only insert two disks 224 betweenhelical spring 222, therefore thetongue piece 226 of different disks is not easy to play a role at accurate location, is difficult to thus guarantee powerful and even supporting force.

Finally, be arranged in the outer arrangement such as above-described United States Patent (USP) and spring of the prior art or with its similar structures thing, after being used for regulating the case of bending of terminal operating portion it is returned to previous status, yet simplify all component and realize that more effective machinery consists of and have limitation.Particularly, be difficult to firmly keep the case of bending of toggle, therefore have the problem of the reliability decrease of operating theater instruments.

In addition, Figure 25 is U.S. Patent Publication No. 5797900 disclosed accompanying drawings, and expression is installed in from the robotic arm of robot and is inserted into the apparatus (instrument) 10 that carries out incised tissue etc. in human body skin mucosa or the skin.

Apparatus 10 shown in Figure 25, side end atpipe component 12 possesses be used to a pair ofoperation member 14 of performing the operation, although not shown, possess apparatus shell (not shown) with the adapter combination of robotic arm at thepipe component 12 withoperation member 14 opposition sides.

Betweenoperation member 14 andapparatus 10 shells, be connected with operation cable C1, C2 by the inside connection of pipe component 12.Operation cable C1, C2 are formed a pair of by two cables, and are connected onoperation member 14a, the 14b, so that respectively perform theoperation member 14a, 14b can move.That is, a pair of operation cable C1 can make thefirst operation member 14a move, and another can make thesecond operation member 14b move to operation cable C2.

For this reason, the first andsecond operation member 14a, 14b along with being connected with two couples of operation cable C1, therotation body 15a of C2, the rotation of 15b, rotatably are connected to the front part of toggle (wrist)body 17 respectively centered by connectingaxle 16.

Toggle body 17 rotatably is connected on theaforementioned tube member 12, hasidle pulley 19 at the axle that is used for thistoggle body 17 of connection andpipe component 12, and thisidle pulley 19 is used for guiding and supports the movements of two couples of operation cable C1, C2.

Theapparatus 10 that so consists of, to be connected under the state from the robotic arm of (slave) robot, operate the drive division that main (master) robot startsapparatus 10 by the doctor, and by drive division push-and-pull described two couples of operation cable C1, C2, therefore a pair ofoperation member 14a, 14b can be by being adjacent to or minute coming and to cut the operation of bodily tissue etc. each other.

Yet, comprise the as mentioned above existing apparatus of the disclosedapparatus 10 of United States Patent (USP), performed the operation in pairs by two operation members, therefore existing can only be as cutting the limitation of a kind of operation tool such as using to utilize with, clamp.

Generally, do the medical instrument that need to have respectively difference in functionality when once performing the operation, operating robot also needs to use thevarious apparatuses 10 that have respectively difference in functionality.Yet, if using the various apparatuses that have respectively standalone feature performs the operation, then need various apparatuses are inserted under the state in the human body apparatus that respectively operation meets function simultaneously, perhaps change as required to be inserted in the human body again after the apparatus with required function and perform the operation, therefore have also complicated problem of the long and operation process of required operating time.

On the other hand, for manual (hand-held) operating theater instruments, terminal operation is that manually to carry out by doctor's hands etc. be not that robot carries out, only have on this aspect and there are differences, therefore the structure of above-mentioned apparatus itself and operating principle exist Similar Problems almost with previously described similar.

In addition, existing surgery instrument for laparoscopic surgery, the tip of the axis that extends at its length direction is combined with the executors (effector) such as cutter (cutter), clamper (gripper), electrosurgical probe (probe), stiching instrument (stapler).When use is equipped with the apparatus of clamper, be difficult to rotation or mobile apparatus under the state of (gripping) tissue of clamping in patient body or internal organs in the past, therefore needed to decontrol the tissue of clamping or internal organs and again this tissue of clamping or internal organs after the mobile apparatus.As shown in figure 48, the tissue of plain clamping or the accident that internal organs (with reference to " T " of Figure 48) are torn or damaged may occur with rotation under the state of existingapparatus 3 grasping tissues or internal organs duringapparatus 3.

Summary of the invention

Technical problem

The present invention proposes in order to address the above problem, purpose is, provide a kind of when can transmit smoothly the bending operation power of terminal operating portion with simple structure, thereby can guarantee that under case of bending more powerful supporting force improves the operating theater instruments bending apparatus of apparatus reliability.

In addition, the object of the invention is, provide a kind of and needn't change operation tool and utilize a pair of operation member just can carry out various surgical operations, thereby can improve the convenience of surgical operation and efficient have multi-functional surgical operation with the apparatus of device.

In addition, purpose is, a kind of actuator structure of the surgery instrument that also can rotate freely apparatus and select between rotatable clamping and fixed clamp as required under clamp position is provided.

The method of dealing with problems

Be used for solving the operating theater instruments bending apparatus that the present invention relates to of described problem, comprise be used to making terminal operating portion carry out the freely toggle section of flexure operation, described toggle section comprises: wire rod section, and the formation helical structure, two ends are connected on the connector; A plurality of juts, outstanding to the screw pitch direction between the wire rod that consists of described wire rod section, when the push pull maneuver by the operation cable makes described wire rod section crooked, induce described wire rod section's distortion or keep deformation state.

Described toggle section can be arranged between body shaft and the described terminal operating portion, perhaps on the more than one mid portion of described body shaft.

Possess the toggle section by operation cable bending between body shaft and terminal operating portion, it is characterized in that, described toggle section comprises: wire rod section, form helical structure, and its both ends are connected to respectively on described body shaft and the terminal operating portion; A plurality of juts, outstanding along the screw pitch direction between the wire rod of the described wire rod of formation section, when the push pull maneuver by described operation cable makes wire rod section crooked, induce the distortion of wire rod section or keep deformation state.

Preferably the length direction along toggle section is formed with a plurality of cable hole continuously in described wire rod section, passes through for described operation cable.

Preferred described wire rod section comprises: spire has helical structure; The both sides fixed part forms circular ring structure, and is connected on the both ends of described spire, and is individually fixed in described body shaft and terminal operating portion.

Described wire rod section can constitute, and makes described spire have compression or stretch modulus.

Preferred described jut makes between the wire rod that consists of described wire rod section and can mutually retrain along the direction of rotation of wire rod section.

Preferred described jut is fixed under the state on the side line material outstandingly to the pitch direction at a side terminal part, and be supported under opposite side terminal part that should be outstanding and the state that adjacent another wire rod separates.

At this moment, preferred described jut and the wire segment that contacts with this jut form with corresponding shape, thus close contact each other.

For this reason, the terminal part of preferred described jut forms the dome-type structure, and the wire segment that contacts with this jut forms recessed dome-type structure.

Preferred described jut forms across predetermined angular respectively along spiral on the circumferencial direction of described wire rod section.

That is, can on the circumferencial direction of described wire rod section, in 180 °～360 ° angular range, form described jut every predetermined angular along spiral.

More preferably, can on the circumferencial direction of described wire rod section, form described jut along spiral every 240 ° of angles.

On the other hand, also can be formed with support on the opposite side wire rod corresponding with described jut, this support is outstanding can support described jut to the jut direction.

In addition, described jut also can constitute both ends all are fixed on the wire rod of both sides, and in contrast, described jut also can constitute all and separate with the both sides wire rod.The both ends of jut when all separating, preferably are formed with the insertion section of groove structure at the both sides wire rod, so that can be inserted.

In addition, the apparatus with multi-functional surgery device that another embodiment of the present invention relates to is characterized in that, comprising: main body; A pair of operation member is located at the end of described main body, contacts with human body and carries out surgical operation; The joint portion is connected between described main body and a pair of operation member so that described a pair of operation member have a plurality of collaborative partys to, thereby can implement multiple different surgical operation; The driving force transmission member is connected at least one side in described a pair of operation member and the joint portion, so that described a pair of operation member can be implemented surgical operation.

According to one embodiment of the invention, described joint portion comprises: a pair of rotary body connects into and can relatively rotate centered by by the first axle of described body abutment; A pair of the second axle is used for connecting described each rotary body and the described member of respectively performing the operation can carry out relative the rotation.

At this moment, preferred described the first axle and a pair of the second axle are with mutually orthogonal direction configuration.

According to another embodiment of the present invention, described a pair of operation member is made of not mobile fixing operation member and the had an operation member that moves to a plurality of directions centered by this fixing operation member, described joint portion comprises: be fixedly connected with section, be used for connecting described fixing operation member and main body; Movable connecting portion is used for connecting described member and described fixing operation member or the main body of having an operation.

At this moment, preferred described movable connecting portion comprises: rotary body, rotate centered by the first axle of be fixed operation member or body abutment; The second axle can connect described rotary body and the member of can having an operation with the relative rotation.

Different therewith, described movable connecting portion also can be made of globe joint or free bend joint.

According to another embodiment of the present invention, described joint portion can be made of a plurality of globe joints that are connected described main body and respectively perform the operation between the member, perhaps is made of a plurality of free bend joints that are connected described main body and respectively perform the operation between the member.

On the other hand, described driving force transmission member can be made of the operation cable, and this operation cable is connected at least one side in described joint portion or a pair of operation member.

Different therewith, described driving force transmission member also can be made of bar or steel wire, and this bar or steel wire are connected at least one side in described joint portion or a pair of operation member.

In addition, described driving force transmission member can be made of a plurality of bars, but at least one rod becomes tubular structure, thus can be under the state that other bar inserts transmission of drive force.

According to embodiments of the invention, described a pair of operation member can constitute, in the first collaborative party to carrying out the tweezers function, in the second collaborative party to carrying out the shears function.

In addition, the operating theater instruments that another embodiment of the present invention relates to is carried out executor (effector) structure of holding action as being combined in its terminal part, comprising: the first jaw (jaw); The second jaw, thus along with contacting with the clamping face of the first jaw, its clamping face carries out holding action; The first rotating disk can be rotatably set on the first jaw; The second rotating disk can be rotatably set on the second jaw, and opposite with the first rotating disk.

The first rotating disk is arranged on the first jaw in its surface and the clamping face of the first jaw mode in the same plane, and the second rotating disk is arranged on the second jaw in its surface and the clamping face of the second jaw mode in the same plane.

On the first rotating disk, can give prominence to and be provided with projection, be formed with groove and be recessed at the second rotating disk, in order to accommodate projection.In addition, on the first rotating disk, can give prominence to and be provided with the first projection, and on the second rotating disk with the first projection outstanding second projection that is provided with correspondingly.

The first rotating disk can be supported on the first jaw by elastomer, so that its surface is outstanding from the clamping face of the first jaw, at this moment, operate the first jaw and/or the second jaw and when carrying out holding action greater than the strength of elastomer elastic force, the first rotating disk can be forced on the first jaw, thereby its rotation is tied.For this reason, can form projection or groove on the surface relative with the first jaw of the first rotating disk, and form groove or the projection corresponding with the projection of the first rotating disk or groove at the first jaw.

In addition, the second rotating disk can be supported on the first jaw by elastomer, so that its surface is outstanding from the clamping face of the second jaw, at this moment, operate the first jaw and/or the second jaw and when carrying out holding action greater than the strength of elastomer elastic force, the second rotating disk can be forced on the second jaw, thereby its rotation is tied.For this reason, can form the first projection or the first groove on the surface relative with the second jaw of the second rotating disk, and be formed for accommodating the second groove of the first projection or be housed in the second projection in the first groove at the second jaw.

The surface of rotating disk can be formed by the material identical with clamping face and pattern forming, is perhaps formed by materials such as having elastic rubber, silica gel, polyurethane.

Aforesaid subject matter solution of the present invention, can can be clear and definite more in detail by the illustration of ' specific embodiment ' or ' accompanying drawing ' that the following describes etc., at this moment, except aforesaid subject matter solution, increase the variety of issue solution that proposes the present invention relates to and describe.The invention effect

The bending apparatus of the operating theater instruments that the present invention relates to, be formed with jut to the screw pitch direction having between the wire rod section of helical structure, therefore can transmit smoothly with the structure of overall simple the bending operation power of terminal operating portion, particularly, under the state that toggle section is bent, can guarantee more powerful supporting force, so have the effect that can improve the equipment dependability that comprises terminal operating portion operation.

In addition, the operating theater instruments bending apparatus that the present invention relates to, jut constitute can be when direction of rotation constraint wire rod, when body shaft provides the operating physical force of direction of rotation, can prevent the kink of screw type wire rod section, thereby terminal operating portion can rotate smoothly also when making the body shaft rotation.

In addition, the apparatus with multi-functional surgery device that the present invention relates to can utilize a plurality of operation tools at an apparatus, therefore needn't change apparatus and also can perform the operation simple, convenient and rapidly.Namely, the present invention can use an apparatus with a pair of operation member as various operation tools, therefore realized multi-functional apparatus, thereby can shorten the operating time such as apparatus replacing time and reduce the number of instruments that is inserted in the body etc., simplify operation process, simultaneously, the situation of operating robot also can be simplified the necessary structure of whole robot, concerning the patient, can reduce surgery cost etc. thereby perform the operation rapidly, significantly improve simplicity and the efficient of surgical operation.

In addition, according to the apparatus structure that the present invention relates to, set up rotating disk by the clamper in operating theater instruments, can under the state that uses rotating disk grasping tissue or internal organs, make the apparatus rotation freely.And, make the surface of rotating disk identical with clamping face, perhaps make the rotating disk elastic bearing on jaw, thereby can select as required rotatable clamping or fixed clamp to perform the operation.

Description of drawings

Fig. 1 to Fig. 7 is expression U.S. Patent number 7320700 disclosed accompanying drawings.

Fig. 8 to Figure 17 represents the operating theater instruments that the present invention relates to sketch map of one embodiment of bending apparatus, wherein,

Fig. 8 a and Fig. 8 b are the operating theater instruments that the present invention relates to of expression with the axonometric chart of the mode of operation of an embodiment of bending apparatus,

Fig. 9 represents the operating theater instruments that the present invention relates to axonometric chart of one embodiment of bending apparatus,

Figure 10 is the axonometric chart of illustrative toggle section in the presentation graphs 9,

Figure 11 is the front view of illustrative toggle section among Fig. 9,

Figure 12 is the top view of illustrative toggle section among Fig. 9,

Figure 13 is the reference diagram of the configuration structure of jut among the present invention,

Figure 14 is the detailed section view of the state that arranges of jut among the present invention,

Figure 15 to Figure 17 is the operating theater instruments that the present invention relates to the sketch map of the different operating state of bending apparatus.

Figure 18 to Figure 19 is the operating theater instruments that the present invention relates to the sketch map of another embodiment of bending apparatus.

Figure 20 is the top view of the different embodiment of the setting position of jut in the operating theater instruments usefulness bending apparatus that the present invention relates to.

Figure 21 and Figure 22 are the operating theater instruments that the present invention relates to the sketch map of another embodiment of bending apparatus, and Figure 21 is overall perspective view, and Figure 22 is the detailed section view of Figure 21 " A " part.

Figure 23 and Figure 24 are the sketch maps of the different distortion embodiment corresponding with Figure 22 of the present invention, and Figure 23 is the cutaway view of the state that all is fixed of the both sides of jut, and Figure 24 is the equal cutaway view of separated state in both sides of jut.

Figure 25 is the axonometric chart of the existing apparatus of expression.

Figure 26 to Figure 32 is the sketch map that the apparatus of the different embodiment that the present invention relates to is shown, wherein,

Figure 26 is axonometric chart,

Figure 27 is exploded perspective view,

Figure 28 is the skeleton diagram of operation cable connection status,

Figure 29 and Figure 30 are tweezers user mode figure,

Figure 31 and Figure 32 are shears user mode figure.

Figure 33 a to Figure 35 is the sketch map that the apparatus of another embodiment that the present invention relates to is shown, wherein,

Figure 33 a, Figure 33 b are side views, the sketch map of expression tweezers user mode,

Figure 34 a, Figure 34 b are top views, the sketch map of expression shears user mode,

Figure 35 is rearview.

Figure 36 a to Figure 38 is the sketch map that the apparatus of another embodiment that the present invention relates to is shown, wherein,

Figure 36 a, Figure 36 b are side views, the sketch map of expression tweezers user mode,

Figure 37 a, Figure 37 b are top views, the sketch map of expression shears user mode,

Figure 38 is rearview.

Figure 39 is the side view of the apparatus of another embodiment that the present invention relates to.

Figure 40 to Figure 43 is the sketch map of the apparatus of another embodiment that the present invention relates to,

Figure 40 and Figure 41 are the side views of tweezers user mode,

Figure 42 and Figure 43 are the top views of shears user mode.

Figure 44 to Figure 47 is the sketch map of the apparatus of another embodiment that the present invention relates to, wherein,

Figure 44 and Figure 45 are the side views of expression tweezers user mode,

Figure 46 and Figure 47 are the top views of expression shears user mode.

Figure 48 is the sketch map of the user mode of the operating theater instruments that relates to of prior art.

Figure 49 is the concept map of the actuator structure of the operating theater instruments that relates to of another embodiment of the present invention.

Figure 50 is the sketch map of the user mode of the operating theater instruments that relates to of another embodiment of the present invention.

Figure 51 is the concept map of the rotating disk of the operating theater instruments that relates to of another embodiment of the present invention.

Figure 52 is the sketch map of the actuator structure of the operating theater instruments that relates to of another embodiment of the present invention.

The specific embodiment

As follows with reference to description of drawings the preferred embodiments of the present invention.

At first, when the embodiment of explanation Fig. 8 a to Figure 24 of the present invention, same item has been given same reference numerals like structure division in the accompanying drawing, omits repeat specification.

At first, with reference to Fig. 8 a to Figure 17 one embodiment of the invention are described.

Fig. 8 a is the expression surgical unit with the approximate three-dimensional map of the terminal part of apparatus, and Reference numeral 110 expressions are connected from the operating portion of robot or the manual body shaft on the operating portion etc. of operating theater instruments.

Body shaft 110 forms the tubular structure of hollow usually, can be used in the cable 115(of operationaftermentioned toggle section 130 with reference to Fig. 9) and be used for the cable of operationaltip operating portion 120 or steel wire by its inside.In addition, can also have for the cable thatterminal operating portion 120 is rotated operation in the inside ofbody shaft 110.

Reference numeral 120 expression end effectors (end effector), it is terminal operating portion, example showsscissor operation member 125 in the accompanying drawing of present embodiment, but is not limited thereto, and can connect to use the known various operation members that consist of terminal operating portion 120.For example, except shears, can also enumerate tweezers, cutter, awl, video camera etc.

Reference numeral 130 expression toggle sections, thistoggle section 130 is used for connecting betweenbody shaft 110 and theterminal operating portion 120, so thatterminal operating portion 120 can carry out freely flexure operation.

Toggle section 130 can be fixedly connected on respectively on theconnector 121 that has on the rear side terminal part of theconnector 111 that has on the terminal part ofbody shaft 110 and terminal operating portion 120.Certainly,toggle section 130 also can connect into relative rotation with the coupling part ofbody shaft 110 orterminal operating portion 120.

Shown in Fig. 8 a, thistoggle section 130 constitutes, can maketerminal operating portion 120 centered bybody shaft 110 to comprising that surgical operation is carried out in all direction bendings of direction freely all around.

Fig. 8 a shows the structure that is not coated with overcoat intoggle section 130, but according to implementation condition, also can cover do not affecttoggle section 130 flexure operations, enough overcoats of forming of thin soft material.

In addition, as mentioned above,toggle section 130 can be fixed between theconnector 121 of theconnector 111 ofbody shaft 110 andterminal operating portion 120, but is not limited thereto, and shown in Fig. 8 b,toggle section 130 also can be fastened on the centre of body shaft 110.That is,toggle section 130 also can be in conjunction with between two connectors 111,112 that are fixed on body shaft 110.In addition, although not shown, between the connector that can be arranged onbody shaft 110 111 and the connector 124 ofterminal operating portion 120 oftoggle section 130 shown in Fig. 8 a, simultaneously between two connectors 111,112 that also can be arranged onbody shaft 110 shown in Fig. 8 b, according to circumstances,toggle section 130 also can be separately positioned on two above parts between two connectors of body shaft 110.Therefore,terminal operating portion 120 is comprising centered bybody shaft 110 by more than onetoggle section 130 can be more freely crooked on all directions of direction all around, thereby can carry out smoothly surgical operation.

Below, structure and the action of the surgery instrument that is combined withtoggle section 130 shown in Fig. 8 a are described, but illustrate that first possess in the structure oftoggle section 130 in the structure shown in Fig. 8 b or in a plurality of parts,toggle section 130 also can carry out similar action.

Below, centered by describedtoggle section 130, describe main composition part of the present invention in detail with reference to Fig. 9 to Figure 17.

As shown in Figure 9,toggle section 130 constitutes, andoperation cable 115 bendings by being connected inbody shaft 110 inboards freely.

At this,preferred operations cable 115 is made of the aforesaid steel wire that is connected with operating portion and can carries out push pull maneuver.This operation cable is formed withhook 117 at its terminal part, thereby the connector 121(that can be arranged onterminal operating portion 120 is with reference to Fig. 8) on, perhaps can hang or be fixedly installed on thefixed part 136 ofaftermentioned toggle section 130.

Describedtoggle section 130 roughly is divided into thewire rod section 131 with helical structure and is arranged onjut 140 between thiswire rod section 131.

At first, describedwire rod section 131 can comprise:spire 133 has helical structure, i.e. structure as helical spring; With fixed part 135,136, be connected to the both ends of thisspire 133, and respectively with describedbody shaft 110 be connected operatingportion 120 and be connected.

Preferred spire 133 is connected with spiral (or coil shape) structure continuously by the single line material, and internal diameter and external diameter are identically formed generally.At this moment,spire 133 can have elasticity of compression power or tensile elasticity power.

Fixed part 135, the 136th is connected to the part of the both-side ends section ofspire 133 with circular ring structure, as mentioned above, is the part that can be connected on the connector 111,121 ofbody shaft 110 andterminal operating portion 120.

With reference to Figure 10 and Figure 11, the length direction to togglesection 130 in thiswire rod section 131 is formed with continuously so that a plurality ofcable hole 137 that describedoperation cable 115 passes through.The structure (with reference to Figure 12) that is formed with sixcable hole 137 when overlooking at present embodiment, but according to implementation condition, between the position of threejuts 140, form the configuration of threecable hole 137 in the time of also can overlooking, perhaps according to implementation condition, can form more different structures.But quantity and the disposition interval of the describedjut 140 of quantity and spacing set basis ofcable hole 137 are suitably set, and be in order to can implement the even flexure operation oftoggle section 130, preferred whole to unify spacing or symmetrically configuration.

Secondly, describedjut 140 is outstanding formation of pitch direction that consists of betweenspire 133 and fixed part 135,136 the wire rod to spiral, play the action of transmitting along with described operation cable 115 (push away or draw) and in the flexure operation power thatoperation cable 115 produces, play supportingwire rod section 131 and prevent compressed effect, can keep its deformation state afterwards thereby makewire rod section 131 be bent distortion.Therefore, when terminal operating portion 120(with reference to Fig. 8) when tissue such as is cut, cuts, controls, burns at the operation, when can accurately regulate the direction of terminal operating portion, under can the state of complete its deformation state of maintenance aftertoggle section 130 is deformed, carry out surgical operation in the situation of reliable supporting forceterminal operating portion 120 not being rocked and guarantee.

In addition, with reference to Fig. 8 etc., when describedjut 140 also playsautonomous axon 110 and transmits revolving force viatoggle section 130terminad operating portions 120, so that adjacent wire rod retrains the effect with transmitting torque each other on direction of rotation.Namely, if there is not jut 140,spire 133 is twisted together in the centre duringbody shaft 110 rotation, thereby be difficult to moment of torsion is passed toterminal operating portion 120, yet, therefore jut 140, also plays the effect that rotatablely moving ofbody shaft 110 is passed to smoothlyterminal operating portion 120 at the wire rod of direction of rotation constraint formation spire 133.Thus, when carrying out surgical operation, when describedtoggle section 130 can make the apparatus bending freely, the operation on the direction of rotation was also implemented freely as integrative-structure.

Preferred thesejuts 140 are given prominence to every predetermined angular along the spiral ofwire rod section 131 and are formed, and preferably the circumferencial direction along wire rod all forms to a side direction (to body shaft direction or terminal operating portion direction) is outstanding every predetermined angular in 180 °～360 ° angle.As shown in figure 13, more preferably along the line the circumferencial direction of material form every 240 ° of angles are outstanding.At this moment, jut 140 under the state that the hexagonal angle degree evenly disposes, plays thewire rod section 131 compressed effects of supporting simultaneously case of bending that prevent in the plan structure of plane.

The following describes the structure that arranges ofjut 140.

With reference to Figure 14, preferredjut 140 is fixed under the state of wire rod oneside part 133U and is supported by theopposite side 133L of adjacent wire rod to the screw pitch direction.That is, a side end ofjut 140 adheres to or is fixed on aside part 133U of wire rod in one-body molded mode etc., and the opposite side end leaves contact under the state ofopposite side part 133L of adjacent wire rod and be supported.

At this moment, theterminal part 140a of preferred contactedjut 140 forms (integration) in order to realize mild contact with the structure that corresponds to each other with thewire segment 133a that contacts with this terminal part.That is, as shown in the figure, theterminal part 140a ofjut 140 can form so that hemispherical dome structure is outstanding, and thewire segment 133a that contacts with thisjut 140 forms so that hemispherical dome structure is recessed.

Distortion and the contact condition ofspire 133 andjut 140 when the part among Figure 14 shown in the with dashed lines represents thatspire 133 is compressed to a side direction are in the accompanying drawings for the ease of understanding than actual exaggerative illustrating.

Figure 15 to Figure 17 represents theaforesaid toggle section 130 that the present invention relates to the approximate three-dimensional map of different directions case of bending, and expression is according to the push pull maneuver bending state freely ofoperation cable 115.

As a reference, Figure 15 to Figure 17 has omittedoperation cable 115 and the sketch map of attaching most importance to and illustrating with the mobile status oftoggle section 130.

On the other hand, shown in dashed lines among Figure 15, also can be on the outline oftoggle section 130 as above aforesaid overcoat 150avoid toggle section 130 to expose.

Figure 18 to Figure 19 is the operating theater instruments that the present invention relates to of expression with the sketch map of another embodiment of bending apparatus, and Figure 18 is the front view oftoggle section 130, and Figure 19 is the approximate three-dimensional map of toggle section operating state shown in Figure 180.

Example illustrates the situation thatwire rod section 131 forms with the circular cross-section structure in an embodiment of the invention described above, and example illustrates the situation thatwire rod section 131 has rectangular cross section structure in another embodiment.In addition, the other parts structure can with the structure same item of an above-mentioned embodiment seemingly, therefore given same reference numerals, omit repeat specification.

Different from the configuration structure of theillustrative jut 140 of Figure 13, Figure 20 shows the planar structure that disposes successively jut 140 to the hand of spiral with 270 ° of intervals.That is, jut 140 forms with 270 ° of intervals along spiral successively at the circumferencial direction ofwire rod section 131, when therefore overlooking, demonstrates the structure that disposes jut with 90 ° of intervals everywhere.At this moment,preferred cable hole 137 is total to everywhere in four one of space among configurations of disposing jut.

On the other hand, Figure 21 and Figure 22 are the sketch maps of the structure of expression another embodiment of the present invention, be illustrated inspire 133 with between the pitch direction wire rod respect to one another, be formed with describedjut 140 in that a side line material is outstanding, and in the outstanding structure that is formed be used to thesupport 142 that supports describedjut 140 of opposite side wire rod.Preferred describedjut 140 andsupport 142 contacted parts, as shown in figure 22, projectedcurved surface 140a and recessedcurved surface 142a connect airtight each other.

Jut 140 andsupport 142 can be integral ground molding manufacturing with wire rod, yet, also can adopt as shown in the figure fixedly be assembled in method on the wire rod with pin 145,146.

In aforesaid different embodiments of the invention, be fixed on a certain side of wire rod and be illustrated centered by the structure that opposite side separates byjut 140, but according to implementation condition, as shown in figure 23, the both ends ofjut 140 also can all be fixed on the wire rod of thespire 133 that is positioned at both sides.In addition, as shown in figure 24, the both ends ofjut 140 also can all be separated with the wire rod of thespire 133 that is positioned at both sides.At this moment, preferably on the wire rod of both sides, be formed with respectivelyinsertion section 134a, the 134b of groove structure, supply bothends 141a, the 141b of jut to insert to prevent thatjut 140 breaks away from.

Below, when the embodiment of explanation Figure 26 to Figure 47 of the present invention, same item has been given same reference numerals like structure division in the accompanying drawings, omits repeat specification.

Figure 26 to Figure 32 is axonometric chart (Figure 26), the major part exploded perspective view (Figure 27) that the apparatus of another embodiment of the present invention is shown, skeleton diagram (Figure 28), tweezers user mode figure (Figure 29 and Figure 30), the shears user mode figure (Figure 31 and Figure 32) that operates the cable connection status.

Reference numeral 21 expression main bodys in Figure 26.

Main body 21 is to support the part of a pair ofoperation member 30 andjoint portion 40, can be axle (shaft) or pipe (tube) parts that extend connection from the drive division of apparatus.In addition,main body 21 can be the structure that is assembled on the toggle body (wrist member) that is connected with described axle or duct member.

Preferredmain body 21 forms with the tubular structure of hollow, so that the driving force transmission members such as operation cable C1, C2, C3, C4 that can make to operate a pair ofoperation member 30 are bymain body 21 inside.

Main body 21 can constitute, and two-side supporting section 23 is (to operation member direction) outstanding structure to the front side, so that can swivel bearing joint portion 40.Two-side supporting section 23 forward side-prominent structure is in order to prevent that a pair ofoperation member 30 from disturbing when different directions moves, this support can not support the structure ofjoint portion 40 so long as do not disturb a pair ofoperation member 30 to move also, and its shape and structure can be carried out various distortion and be implemented.

As long asmain body 21 also is to support the structure of a pair ofoperation member 30 andjoint portion 40, can suitably be out of shape according to apparatus structure.

As mentioned above, possess a pair ofoperation member 30 that contacts with human body and carry out surgical operation at the end (or front side) ofmain body 21, make a pair ofoperation member 30 have multiple collaborative party to thejoint portion 40 of realizing various surgical operations thereby between this a pair ofoperation member 30 andmain body 21, possess.In addition, possess operation cable C1, C2, C3, the C4 that is connected to a pair ofoperation member 30 andjoint portion 40 be used to operating a pair ofoperation member 30.

It is as follows to describe these each structure divisions in detail.

At first, a pair ofoperation member 30 forms with the strip structure respectively, and terminal part connects airtight each other or contacts, thereby can carry out the particular procedure function.

Illustrative a pair ofoperation member 30 in the accompanying drawings, example shows the structure that can carry out tweezers function and shears function, with reference to Figure 27, ' A ' respect to one another face in thefirst operation member 31 and thesecond operation member 32, by contacting with each other to carry out the tweezers function, and ' B ' respect to one another in side face, by contacting with each other to carry out the shears function.

Namely, a pair ofoperation member 30 constitutes, when thefirst operation member 31 and thesecond operation member 32 are mobile to the first collaborative party to (D, U direction in Figure 26) centered by describedjoint portion 40, can carry out the tweezers function, and thefirst operation member 31 and thesecond operation member 32 can be carried out the shears function when mobile to the second collaborative party to (R, L direction in Figure 26).

This a pair ofoperation member 30 can be various ways with being in contact with one another structure modify with shape according to the peculiar function that realizes surgical operation.Example illustrates from the mid portion of each operation member and begins more the more towards each other structure of relative direction bending of terminad section in the accompanying drawings, so that a pair ofoperation member 30 contacts smoothly.

Secondly, illustrate that connecting a pair ofoperation member 30 makes it can implement to a plurality of collaborative partys thejoint portion 40 of surgical operation to moving.

Mainly with reference to Figure 27,joint portion 40 can comprise: a pair ofrotary body 41,42 can connect centered by the first axle X that is supported bymain body 21 with the relative rotation; A pair of the second axle Y1, Y2 can connect eachrotary body 41,42 and themember 31,32 of respectively performing the operation with the relative rotation.

As shown in the figure, a pair ofrotary body 41,42 can rotate relative to one another under the configuration status centered by the first axle X side by side, and be provided with the second axle Y1 that is connected with eachoperation member 31,32, the part of Y2, in order to consist of smoothly the second axle, have relatively wide area.

A pair ofrotary body 41,42 like this, aforesaid can between the two-side supporting section 23 ofmain body 21, relatively the rotation, and the first axle X can be rotated thereby can support a pair ofrotary body 41,42 relatively by 23 supportings of two-side supporting section.

The first axle X is not limited in by single-shaft configuration and consists of, also can be to be fixed under the state of two-side supporting section 23 to make a pair ofrotary body 41,42 structures that support rotatably, also can be from eachrotary body 41,42 outstanding and rotatably by the structure of two-side supporting section 23 supportings.

A pair ofoperation member 30 rotatably is assembled on a pair ofrotary body 41,42 by the second axle Y1, Y2 respectively, as long as but the second axle Y1, Y2 can make themember 31 of respectively performing the operation, 32 structures with respect to eachrotary body 41,42 rotations, it is also harmless to be fixed on which side, and, also can be not fix and the structure that insert to consist of with single-shaft configuration.

On the other hand, the first axle X shown in the drawings and a pair of the second axle Y1, Y2 are with the structure of mutually orthogonal directions configuration, thereby this is the structure that the first axle X and a pair of the second axle Y1, Y2 integral body dispose the total compactness and move smoothly with decussate texture.Yet be not limited thereto, a pair of the second axle Y1, Y2 also can be configured on the different axis, and needn't be positioned on the same axis.

Secondly, illustrate and be used for the operation as mentioned above a pair ofoperation member 30 of formation and the driving force transmission member ofjoint portion 40.

The driving force transmission member can utilize the known operation connecting elements such as steel wire, cable, bar shaped bar to consist of so long as can make the link ofoperation member 30 andjoint portion 40 rotations.

Among illustrative another embodiment, expression utilizes the structure of cable in the accompanying drawings.

With reference to Figure 27 and Figure 28, the driving force transmission member constitutes as follows, eachoperation member 31,32 and eachrotary body 41,42 on possess respectivelycable connector 31a, 32a, 41a, 42a, and on thiscable connector 31a, 32a, 41a, 42a, be connected with respectively operation cable C1, C2, C3, C4.

At this moment, eachcable connector 31a, 32a, 41a, 42a can not be fixed on themember 31 of respectively performing the operation, 32 and eachrotary body 41,42 with the relative rotation, preferred setting position lays respectively on the first axle x-ray and the second axle Y1, Y2 line on.

The fixed structure ofcable connector 31a, 32a, 41a, 42a can with eachoperation member 31,32 or eachrotary body 41,42 form single structures or make separately after the fixing mode of assembling consist of.

It is can be by previously describedmain body 21 inner and via eachcable connector 31a, 32a, 41a, 42a that each operates cable C1, C2, C3, C4, makes themember 31 of respectively performing the operation, 32 or eachrotary body 41,42 rotations according to the action of push-pull cable by eachcable connector 31a, 32a, 41a, 42a.

In the accompanying drawing, Reference numeral 35 expressions are used for the idler roller of pressing operation cable C3, C4, andidler roller 35 is that a pair ofoperation member 31,32 quilts also can make the auxiliary body that operates under operation cable C3, the stable state that is connected oncable connector 41a, the 42a of C4 when open.

Idler roller 35 not only can constitute the structure of pressing operation cable C3, C4, also can constitute the structure of supporting at the downside (centered by cable towards operation member side) of each operation cable.At this moment, even a pair ofoperation member 31,32 moves to either direction, operation cable C3, C4 are connected through a pair ofidler roller 35 setting up and down and withcable connector 41a, 42a, thereby can transmit operating physical force with more stable connection status.

In addition, also can form the guide with pore structure and replace idler roller 35.That is, can make operation cable C3, C4 through circular ring structure or tubulose guiding device, transmit operating physical force so that operation cable C3, C4 stablize under the state that is connected oncable connector 41a, the 42a.At this moment, guide can be arranged on the position identical with the position that is provided with describedidler roller 35.

Operate the aforesaid structure that respectively operates cable C1, C2, C3, C4, by the applicant's patent of invention and formerly technology is known, so omit detailed description thereof.

The user mode of the apparatus of aforesaid another embodiment of the present invention is described with reference to Figure 29 to Figure 32.

Figure 29 and Figure 30 are the state diagrams during as tweezers, by operating the first cable C1 and the second cable C2, so that a pair ofrotary body 41,42 rotates centered by the first axle X, thereby make as shown in figure 29 a pair ofoperation member 30 separately, or make as shown in figure 30 a pair ofoperation member 30 contacts and as the tweezers utilization.

Figure 31 and Figure 32 are the state diagrams during as shears, by operating the 3rd cable C3 and the 4th cable C4, so that a pair ofoperation member 30 rotates centered by the second axle Y1, Y2 respectively, thereby make as shown in figure 31 a pair ofoperation member 30 separately, or a pair ofoperation member 30 is overlapped each other and as the shears utilization.

＜another embodiment 〉

Figure 33 a to Figure 35 is side view (Figure 33 a, Figure 33 b), top view (Figure 34 a, Figure 34 b), the rearview (Figure 35) that the apparatus of another embodiment of the present invention is shown.

Another embodiment of the present invention, except the structure of driving force transmission member, remaining structure division is identical with the structure of previously described another embodiment (Figure 26 to Figure 32).

Different by above-mentioned another embodiment (Figure 26 to Figure 32) that operation cable C1, C2, C3, C4 consist of from the driving force transmission member, thebar 51,51 that the driving force transmission member of another embodiment is connected by the radial type structure ', 52,52 ' consist of.At this moment,preferred bar 51,51 ', 52,52 ' consist of by having the fineness degree that can transmit the traveling priority operating physical force and the bar shaped of intensity.

In the accompanying drawingsillustrative bar 51,51 ', 52,52 ' by being connected thefirst bar 51,51 on a pair ofrotary body 41,42 ' and be connected thesecond bar 52,52 on a pair ofoperation member 31,32 ' consist of.

The first bar be two poles 51 ' be connected to frommobile jib 51 branches on a pair ofrotary body 41,42 (with reference to Figure 33 a), equally, the second bar also be two poles 52 ' be connected to frommobile jib 52 branches on a pair ofoperation member 31,32 (with reference to Figure 34 a).

At this moment, preferredmobile jib 51,52 separately is connected with pole ', 52 ' with can counterrotating knuckle joint 51c, the 52c mode connects, pole 51 ', 52 ' with eachrotary body 41,42 andoperation member 31,32 connect in globe joint 51a, 51b, 52a, the 52b mode that can rotate freely.The blank area that is connected withrotary body 41,42 also can replace globe joint 51a, 51b with knuckle joint and connect.

And, thepole 51 of the first bar ' take globe joint 51a, 51b be connected in eachrotary body 41,42 position as, centered by the first axle X about (to scheme as benchmark) at a distance of the position of predetermined distance, thepole 52 of the second bar ' be connected inoperation member 31,32 position with globe joint 52a, 52b, centered by the second axle Y1, Y2 about at a distance of the position (with reference to Figure 35) of predetermined distance.

Figure 35 is the rearview of the setting position of expression globe joint 51a, 51b, 52a, 52b, a pair ofoperation member 30 can consist of the outstanding extension of rightabout towards each other with connect respectively pole 52 ', thereby can be by the enough moments of torsion of thesecond bar 52,52 ' provide.

Eachbar 51,51 by connection like this ', 52,52 ' push pull maneuver, make a pair ofrotary body 41,42 counterrotating whiles, a pair ofoperation member 31,32 is rotated relatively.

Namely, shown in Figure 33 a, pull thefirst bar 51,51 ', then a pair ofrotary body 41,42 centered by the first axle X to the direction rotation that a pair ofoperation member 30 is separated, shown in Figure 33 b, promote thefirst bar 51,51 ', then a pair ofrotary body 41,42 centered by the first axle X to the direction rotation that a pair ofoperation member 30 is closed up.

In addition, shown in Figure 34 a, pull thesecond bar 52,52 ', then a pair ofoperation member 31,32 centered by the second axle Y1, Y2 to the direction rotation that separates, shown in Figure 34 b, when promoting thesecond bar 52,52 ' time, a pair ofoperation member 31,32 centered by the second axle Y1, Y2 to the direction rotation that closes up.

The above is illustrated with the structure that connects from bar branch, but different therewith, also can consist of be connected to eachrotary body 41,42 and themember 31,32 of respectively performing the operation on four bars.

In addition, when being consisted of by bar, reach the part that themember 31,32 of respectively performing the operation is connected with bar with eachrotary body 41,42, as previously described also can be connecting by counterrotating articulated structure, but be not limited thereto, also can eachrotary body 41,42 and themember 31,32 of respectively performing the operation on formative gear structure (pinion), the gear structure of this gear and bar (tooth bar) combination, thus can eachrotary body 41 of rotary actuation, 42 and themember 31,32 of respectively performing the operation.

On the other hand, in another embodiment of the present invention, the embodiment that the driving force transmission member is made of bar has been described, but also can have been consisted of by the steel wire with enough rigidity.

＜another embodiment 〉

Figure 36 a to Figure 38 is side view (Figure 36 a, Figure 36 b), top view (Figure 37 a, Figure 37 b), the rearview (Figure 38) that the apparatus of another embodiment of the present invention is shown.

The similar of another embodiment of the present invention and previously described embodiment (Figure 33 a to Figure 35), it is the embodiment thatmobile jib 51,52 together forms on coaxial.In addition, the structure difference of another embodiment of the present invention and embodiment (Figure 33 a to Figure 35) is, a pair ofoperation member 31 during catch bar, opens in 32 minutes, and closes up when pulling bar.

At first, illustrate thatmobile jib 51,52 is configured in the structure on the axis.

For being connected the first bar on a pair ofrotary body 41,42,mobile jib 51 can be identical or similar with embodiment (Figure 33 a to Figure 35), and for being connected the second bar on a pair ofoperation member 31,32,mobile jib 52 forms tubular structure.

That is, themobile jib 51 of the first bar that forms with club shaped structure can insert under the state in themobile jib 52 of the second bar that forms with tubular structure and carry out traveling priority, thereby makes a pair ofrotary body 41,42 motions.And themobile jib 52 with second bar of tubular structure also can carry out traveling priority and make a pair ofoperation member 31,32 motions.

Same with embodiment (Figure 33 a to Figure 35), thereby eachmobile jib 51,52 is connected with pole ', 52 ' connect and can relatively rotate with knuckle joint 51c, 52c mode, pole 51 ', 52 ' with eachrotary body 41,42 andoperation member 31,32 can rotate connecting with globe joint 51a, 51b, 52a, 52b mode freely.

The link position of each globe joint 51a, 51b, 52a, 52b can be with as shown in figure 38 configuration.

Be connected in the side that eachrotary body 41,42 globe joint 51a, 51b can be configured in each rotary body.Also can utilize this moment knuckle joint to replace globe joint 51a, 51b is connected withrotary body 41,42.

Be connected globe joint 52a, the 52b of operation on themember 31,32, can be arranged on from eachoperation member 31,32 and extend on theextension 45 of the first axle X.Figure 38 illustrates the embodiment that globe joint 52a, 52b are positioned at the formation on the first axle x-ray.

On the other hand, the setting position of each globe joint 51a, the 51b in the another embodiment of the present invention, 52a, 52b is positioned at centered by the first axle X or the second axle Y1, Y2 the setting position opposition side with embodiment (Figure 33 a to Figure 35).This point can be by comparing Figure 35 and Figure 38 as can be known.

Like this, the setting position of each globe joint 51a, 51b, 52a, 52b is set to the situation opposite with embodiment (Figure 33 a to Figure 35), promotes or when pulling bar, carries out the action opposite with embodiment (Figure 33 a to Figure 35).

Namely, shown in Figure 36 a, promote thefirst bar 51,51 ', then a pair ofrotary body 41,42 centered by the first axle X to the direction rotation that a pair ofoperation member 30 is separated, shown in Figure 36 b, pull thefirst bar 51,51 ' time, a pair ofrotary body 41,42 centered by the first axle X to the direction rotation that a pair ofoperation member 30 is closed up.

In addition, shown in Figure 37 a, promotion havesecond bar 52,52 of tubular structure ', then a pair ofoperation member 31,32 centered by the second axle Y1, Y2 to direction rotation separately, shown in Figure 37 b, pull thesecond bar 52,52 ', then a pair ofoperation member 31,32 direction rotations that centered by the second axle Y1, Y2, close up towards each other.

On the other hand,mobile jib 51 structure that themobile jib 52 of the second bar forms with tubular structure with club shaped structure formation of the first bar has been described in front, yet, in contrast, thus also can be that themobile jib 51 of the first bar forms with tubular structure and themobile jib 52 of the second bar forms with club shaped structure and is inserted in themobile jib 51 of the first bar.

In addition, twomobile jibs 51,52 also can all form with tubular structure, thus with double pipe structure be configured in coaxial on.In this way also can with the mobile jib more than three with triple above tubular constructions be configured in coaxial on, at this moment, the most inboard mobile jib also can consist of with single bar or steel wire form.

In addition, be inserted into the interior bar of mobile jib that tubular structure consists of, be not limited to the rod shaped structure of hard (unbending material), also can be consisted of by the steel wire of soft (relatively easy crooked material).

In addition, also can insert a plurality of bars with shaft-like or structure of steel wire in the mobile jib with the tubular structure formation, and transmit operating physical forces by the mobile jib of tubular structure and a plurality of bars that are inserted within it.

In addition component part can be identical with the structure of above-described embodiment or similar, and description will be omitted.

＜another embodiment 〉

In another embodiment of the present invention, a pair ofoperation member 30 is divided into: motionless fixing operation member 32 ' and by this fixing operation member 32 ' centered by to the had anoperation member 31 of a plurality of directions motion '.

Namely, as shown in figure 39, downside possess fixing operation member 32 ', this fixing operation member 32 ' be fixed on themain body 21, upside possess themember 31 of can having an operation ', thismember 31 of can having an operation ' by fixing operation member 32 ' centered by and centered by the first axle X or the second axle Y1, rotate.

At this moment,joint portion 40 by be used for being connected and fixed operation member 32 ' with the section that is fixedly connected with 33 ofmain body 21 be used to be connected can have an operation member 31 ' with fixing operation member 32 ' or movable connectingportion 41, the Y1 ofmain body 21 consist of.

Be fixedly connected withsection 33 and bemain body 21 to be connected with the fixing operation member ' structure that one connects or the structure division of assembling fixed to one another.

Movable connecting portion by therotary body 41 that centered by the first axle X, rotates with so that themember 31 of can having an operation ' consist of with respect to the second axle Y1 of theserotary body 41 rotations.

At this, as shown in the figure, described the first axle X can be by support 23 supportings ofmain body 21, and operation member 32 ' supporting also can be fixed.

In addition structure is identical with the structure of above-described embodiment (Figure 26 to Figure 32), and description will be omitted.Just, the driving force transmission member that is consisted of by cable C1, C3, steel wire, bar etc. not with fixing operation member 32 ' be connected, and only withrotary body 41 be connected the member 31 ' be connected of having an operation.

Aforesaid another embodiment of the present invention, when basic structure and the similar formation of embodiment (Figure 26 to Figure 32), by operating the first cable C1 so thatrotary body 41 centered by the first axle X, rotate, thereby themember 31 of then can having an operation ' move up and down is with fixing operation member 32 ' realize tweezers function, by operating the 3rd cable C3 so that themember 31 of can having an operation ' centered by the second axle Y1, rotate, thereby the member 31 ' side-to-side movement of then can having an operation is with fixing operation member 32 ' realize shears function.

On the other hand, although not shown in the accompanying drawing, described movable connecting portion also can not utilizerotary body 41, the first axle X, the second axle Y1 etc., and the spherical joint connection structure (another embodiment) of describing among the embodiment below utilizing or free bend joint connecting structure (the 6th embodiment) make themember 31 of can having an operation ' to a plurality of directions motions.

＜another embodiment 〉

The another embodiment of the present invention that the following describes is comparedjoint portion 40 from above-described embodiment structure is different.This is illustrated successively.

Figure 40 and Figure 41 are the side views for expression tweezers operating state, and Figure 42 and Figure 43 are the top views for expression scissor action state.

Another embodiment of the present invention is that thejoint portion 40 that is used for connectionmain body 21 and a pair ofoperation member 30 is made of a pair of globe joint 61,62.

That is,main body 21 is performed theoperation member 31,32 respectively by globe joint 61,62 connections with being connected, and utilizes operation cable C1, C2, C3, C4 that a pair ofoperation member 30 is rotated, thereby can realize tweezers (Figure 40 and Figure 41) or shears (Figure 42 and Figure 43) function.

Globe joint 61,62 is common known technology, and themember 31 of respectively performing the operation, 32 that is connected on the ball rotates freely centered by the spherical shell that is fixed inmain body 21.

Reference numeral 65 expression in the accompanying drawing is used for guiding and respectively operates the cable guide that cable C1, C2, C3, C4 move.

On the other hand, described in embodiment (Figure 39), also one in a pair ofoperation member 30 directly can be fixed on themain body 21 as the fixing operation member, and do not form globe joint, another operation member, the member of can having an operation connect by globe joint, and realize various functions with the fixing operation component synergism.

Figure 44 and Figure 45 are the side views for expression tweezers operating state, and Figure 46 and Figure 47 are the top views for expression scissor action state.

Another embodiment of the present invention is that thejoint portion 40 that is used for connectionmain body 21 and a pair ofoperation member 30 is made of a pair of free bend joint 71,72.

Namely,main body 21 is performed theoperation member 31,32 respectively by free bend joint 71,72 connections with being connected, can be as uses such as shears (Figure 42 and Figure 43) in the time of can working in coordination with direction rotation as tweezers (Figure 40 and Figure 41) or to second when making a pair ofoperation member 30 to the first collaborative direction rotation.

Free bend joint 71,72 can utilize with a plurality of loop coupling structures, coil form steel wire, telescoping tube etc. end component (operation member) is consisted of to known toggle (wrist) structure of different directions operation, open by U.S. Patent number US07618066, US06053907, US07547311, US07323700, U.S. Patent Publication No. US2310/0087711, US2310/0190735 etc., so omission is to its accompanying drawing illustration and detailed description.

In addition, the driving force transmission member also is by running through free bend joint 71,72 or consist of with the structure that is connected ofoperation member 31,32 respectively by its inside, the syndeton of this driving force transmission member is also open by formerly technology listed above etc., so detailed.

On the other hand, basic structure as present embodiment, described in embodiment (Figure 39), also one in a pair ofoperation member 30 directly can be fixed on themain body 21 as the fixing operation member, and do not form the free bend joint, another operation member, the member of can having an operation connect by the free bend joint, thereby realize various functions.

Except several embodiment of the invention described above, also can use technological thought of the present invention and consist of various embodiment.The different embodiment of other that the following describes, even without description of drawings, the general technical staff of the technical field of the invention also can implement easily by accompanying drawing or the detailed description of described several embodiment, so omit accompanying drawing, briefly describes the structure of each embodiment.

Previously described several embodiments of the present invention example illustrates and utilizes two, is the structure of a pair ofoperation member 30, but also can make up three or its above operation member.

In addition, the structure of using together take tweezers and shears among the embodiment of the invention described above is illustrated as main, but this only is an example, and the function that can utilize as long as a pair ofoperation member 30 is worked in coordination with each other also can constitute other difference in functionalitys such as torch, awl.

In addition, even a pair ofoperation member 30 is same operation members, also can size or the slightly different formation such as function.For example, with reference to Figure 27, ' A ' respect to one another the part can utilize the larger tweezers of relative area, ' B ' side make the such sharp structure of non-shears the face structure and as the less tweezers utilization of relative area.

＜another embodiment 〉

The below has given same reference numerals to same item like component part in the accompanying drawings when the embodiment of explanation Figure 49 to Figure 52 of the present invention, omit repeat specification.

Figure 49 is the concept map that the actuator structure of the operating theater instruments that another embodiment of the present invention relates to is shown, and Figure 50 is the sketch map that the user mode of the operating theater instruments that another embodiment of the present invention relates to is shown.With reference to Figure 49 and Figure 50, showexecutor 1, thefirst jaw 10, clampingface 12,22, the firstrotating disk 14, thesecond jaw 20, the secondrotating disk 24.

Present embodiment is characterised in that, can set up rotating disk by the clamper end in operating theater instruments, with rotating disk clamping (grip) tissue or internal organs, and in the situation of clamp position with not damaged tissue or internal organs apparatus is rotated in the operation process.

The operating theater instruments that present embodiment relates to is executor's 1 structure that is combined with clamper at its terminal part, consists essentially of a pair of jaw, namely carries out thefirst jaw 10 andsecond jaw 20 of holding action.Executor's 1 structure that present embodiment relates to is characterized in that, is respectively arranged with rotatablerotating disk 14,24 at a pair ofjaw 10,20.

The face that thefirst jaw 10 and thesecond jaw 20 carry out joining each other in the process of holding action is called clampingface 12, at 22 o'clock, each rotating disk, namely be arranged on the firstrotating disk 14 on thefirst jaw 10 and be arranged on thesecond jaw 20 the secondrotating disk 24 toward each other, androtating disk 14,24 surface and clampingface 12,22 join in clamping process equally each other.

In operation process, use like this at eachjaw 10,20 and be provided with the situation thatrotating disk 14,24 clamper come grasping tissue or internal organs, can be divided into the situation of usingrotating disk 14,24 surperficial clamping and the situation of using clampingface 12,22 clampings.

When coming grasping tissue or internal organs withrotating disk 14,24, can be under this clamp position, therefore jaw can make apparatus (centered by rotating disk) rotation with respect torotating disk 14,24 rotations under clamp position.Thisly can make apparatus be called ' rotatable clamping ' with the situation of state clamping of rotation and describe.

On the other hand, same with existing clamper when using clampingface 12,22 grasping tissues or internal organs, be in the state that is difficult to make the apparatus rotation, the below is called ' fixed clamp ' with this situation and describes.

The apparatus that present embodiment relates to is characterized in that, can carry out rotatable clamping, also can be fixed clamping as required.

In order to select to realize rotatable clamping and fixed clamp, as shown in figure 49, can makerotating disk 14,24 surface and clampingface 12,22 in the same plane.That is,jaw 10, a part of 20 are caved in be equivalent torotating disk 14,24 thickness, and fall into part within it rotatingdisk 14,24 is set, thereby makerotating disk 14,24 surface and clampingface 12,22 consistent.This structure can make the part (disc surfaces) onjaw 10,20 surfaces be used in rotatable clamping and another part (clamping face) is used in fixed clamp.

At this, rotatingdisk 14,24 surface and clampingface 12,22 be in ' same plane ' be not only index learn same plane on the meaning, when this same plane represented to use clamper grasping tissue or internal organs, method of clamping was not according to the projecting height of clamping face and according to the position of clamping face and the different meaning.

Such as present embodiment, if set up rotatingdisk 14,24 at thejaw 10,20 of clamper, then except can the advantage of rotation apparatus under the clamp position, also having in operation process and can take out easily the advantage that drops at the Intraabdominal pin of patient or clip etc.

Take pin as example, utilizing the apparatus taking-up to drop in the process of the Intraabdominal pin of patient in the past, there are the problems such as pin is dropped again by the sleeve pipe scratching, yet, the situation of the clamper that the use present embodiment relates to, shown in Figure 50 (a), utilize rotatingdisk 14,24 clampings to drop in the process that Intraabdominal pin (needle) takes out, when pin by sleeve pipe (trocar) when tangling, by its counteracting force, rotatingdisk 14,24 natural rotations, therefore, shown in Figure 50 (b), can not be subjected to the interference of sleeve pipe and take out easily pin.

Figure 51 is the concept map that the rotating disk of the operating theater instruments that another embodiment of the present invention relates to is shown.With reference to Figure 51, show thefirst jaw 10, clampingface 12,22, the firstrotating disk 14,projection 16,28, thesecond jaw 20, the secondrotating disk 24,groove 26.

In the present embodiment, be formed withprojection 16 andgroove 26 at rotatingdisk 14,24, therefore easier clamping clip (clip) or pin (needle).

Namely, shown in Figure 51 (a), at the firstrotating disk 14 outstanding projection 16(or grooves of arranging), makeprojection 16 be inserted into structure in thegroove 26 in the clamping process to be formed on, form groove 26(or projection and cave at the second rotating disk 24) time, even clip or pin etc. can not be suspended on theprojection 16 withrotating disk 14,24 Surface Contact yet, thus easy clamping clip etc.

Example illustrates the situation that is formed with a projection-groove structure in (a) of Figure 51, but also can form as required a plurality of projections and a plurality of grooves corresponding with it.

On the other hand, shown in Figure 51 (b), also can on the firstrotating disk 14 and the secondrotating disk 24, all give prominence toprojection 16,28 is set, thereby in clamping process, make each other interlock of projection, at this moment, clip etc. is held betweenprojection 16 andprojection 28, therefore, even clip etc. not withrotating disk 14,24 Surface Contact, also easy clamping clip etc.

Example illustrates the situation that is formed with a projection-raised structures in (b) of Figure 51, but also can be formed with a plurality of raised structures that correspond to each other as required.

Figure 52 is the sketch map that the actuator structure of the operating theater instruments that another embodiment of the present invention relates to is shown.With reference to Figure 52, show thefirst jaw 10, clampingface 12,22, the firstrotating disks 14,projection 32,34, thesecond jaw 20, the secondrotating disk 24,groove 33,35,elastomer 30.

Therotating disk 14,24 that present embodiment relates to, under normal conditions, than carrying out rotatable clamping under the slightly outstanding state of clampingface 12,22, and when with stipulate above strength hold with a firm grip a pair ofjaw 10,20 the time, rotatingdisk 14,24 is fixed on parent (jaw) and upward can not rotates, thereby can be fixed clamping.

That is, when the firstrotating disk 14 that present embodiment is related to was arranged on thefirst jaw 10, rotatingdisk 14 can be bearing on thejaw 10 by the elastomers such asspring 30, and the surface ofrotating disk 14 is slightly more outstanding than clampingface 12.

When sorotating disk 14 being set, under normal conditions, can carry out rotatable clamping with rotating disk 14.In addition, when operating a pair ofjaw 10,20 and carry out holding action with the strength greater thanelastomer 30 elastic force, the firstrotating disk 14 is pressed to thefirst jaw 10, therefore because the friction betweenrotating disk 14 and thejaw 10, rotatingdisk 14 is in the state that can not freely rotate, that is, be in the affined state of rotation.Under the affined state of the rotation ofrotating disk 14, when usingrotating disk 14 to carry out holding action, can only be fixed clamping, and can not carry out rotatable clamping.

In a word, rotatingdisk 14 is by elastic bearing onjaw 10 time, under normal conditions, can carry out rotatable clamping withrotating disk 14, when still makingjaw 10 interlock with the strength greater thanelastomer 30 elastic force,rotary body 14 can not rotate, thereby be fixed clamping, therefore, even carry out holding action withrotating disk 14 equally, can select to carry out rotatable clamping and fixed clamp by the strength of adjustingjaw 10 interlocks.

On the other hand, the effect of frictional constraint rotation is more effective forrotating disk 14 is pressed tojaw 10, can form projection 32(or groove with the surface of the opposed rotatingdisk 14 of jaw), and form groove 33(or projections at jaw 10) projection 32(or groove to form with rotating disk 14) coupling.

Like this, betweenrotating disk 14 andjaw 10, form the situation of the projection-groove structure that is complementary, when rotatingdisk 14 is exerted pressure byjaw 10,projection 32 and each other interlock ofgroove 33, thereby the more rotation of addition ofconstraints rotating disk 14.

Structure according to chucking power selection constraint turntable rotation can only be used on any in therotating disk 14,24 that arranges on a pair ofjaw 10,20, also can be used on two in a pair ofrotating disk 14,24.

That is, same with the firstrotating disk 14, when being arranged at the secondrotating disk 24 on thesecond jaw 20, rotatingdisk 24 is supported on thejaw 20 by the elastomers such asspring 30, and the surface ofrotating disk 24 is slightly more outstanding than clampingface 22.

Like this, a pair ofrotating disk 14,24 is during respectively by a pair ofjaw 10,20 elastic bearing, under normal conditions, can carry out rotatable clamping withrotating disk 14,24, and when makingjaw 10,20 interlock with the strength greater thanelastomer 30 elastic force,rotary body 14,24 can not rotate, thereby can be fixed clamping.

In addition, for the secondrotating disk 24 is had more reliably because rotating affined function withjaw 20 frictions, can form projection 34(or groove on the surface withjaw 20 opposed rotating disks 24), and form groove 35(or projections at jaw 20), withrotating disk 24 on the projection 34(or the groove that form) coupling.

On the other hand, the surface of the rotating disk that present embodiment relates to can form with clamping face same material or the pattern forming with jaw, thereby to avoid accurately clamping of object landing in clamping process.Perhaps, even the surface of rotating disk is made of the material different from clamping face, also can by by have elastic material, materials such as rubber, silica gel, polyurethane consists of, thereby can not landing the firm clamping in ground.

Aforesaid, the technological thought of describing in the embodiments of the invention can be distinguished independent enforcement, also can make up enforcement.And, the present invention by accompanying drawing and in the content of invention the embodiment that puts down in writing be illustrated, but this only is illustration, the general technical staff of the technical field of the invention can make various distortion and other impartial embodiment thus.Therefore, technical protection scope of the present invention should be as the criterion with the record of claims.

Claims (39)

1. an operating theater instruments bending apparatus is characterized in that, comprises be used to making terminal operating portion carry out the freely toggle section of flexure operation, and described toggle section comprises:

Wire rod section forms helical structure, and two ends are connected on the connector; And

A plurality of juts, outstanding to the screw pitch direction between the wire rod that consists of described wire rod section, when the push pull maneuver by the operation cable makes described wire rod section crooked, induce described wire rod section's distortion or keep deformation state.

2. operating theater instruments bending apparatus according to claim 1 is characterized in that,

Length direction along toggle section in described wire rod section is formed with a plurality of cable hole of passing through for described operation cable continuously.

3. operating theater instruments bending apparatus according to claim 1 and 2 is characterized in that, described wire rod section comprises:

Spire has helical structure;

The both sides fixed part forms circular ring structure, and is connected on the both ends of described spire, and is individually fixed in body shaft and terminal operating portion.

4. operating theater instruments bending apparatus according to claim 3 is characterized in that,

Described wire rod section constitutes and makes described spire have compression or stretch modulus.

5. operating theater instruments bending apparatus according to claim 1 is characterized in that,

Described jut constitutes, and the wire rod of the described wire rod of formation section can be retrained mutually along the direction of rotation of wire rod section.

6. according to claim 1, each described operating theater instruments bending apparatus in 2,5, it is characterized in that,

Described jut is outstanding to the pitch direction with the state that a side terminal part is fixed on the side line material, and opposite side terminal part that should be outstanding with state that adjacent another wire rod separates under be supported.

7. according to claim 1, each described operating theater instruments bending apparatus in 2,5, it is characterized in that,

On the circumferencial direction of described wire rod section, form described jut along spiral every predetermined angular.

8. operating theater instruments bending apparatus according to claim 7 is characterized in that,

On the circumferencial direction of described wire rod section, in the angle of spiral between 180 °～360 °, form described jut every predetermined angular.

9. operating theater instruments bending apparatus according to claim 7 is characterized in that,

On the circumferencial direction of described wire rod section, form described juts along spiral every 240 °.

10. operating theater instruments bending apparatus according to claim 6 is characterized in that,

Described jut forms corresponding shape with the wire segment that contacts with this jut, thus close contact each other.

11. operating theater instruments bending apparatus according to claim 10 is characterized in that,

The terminal part of described jut forms the dome-type structure, and the wire segment that contacts with this jut forms recessed dome-type structure.

12. operating theater instruments bending apparatus according to claim 6 is characterized in that,

Be formed with support at described another wire rod, this support is outstanding can support described jut to the jut direction.

13. according to claim 1, each described operating theater instruments bending apparatus in 2,5, it is characterized in that,

The both ends of described jut all are fixed on the wire rod of both sides.

14. according to claim 1, each described operating theater instruments bending apparatus in 2,5, it is characterized in that,

Described jut all separates with the both sides wire rod, is formed with the insertion section of groove structure at the both sides wire rod, so that insert at the both ends of jut.

15. operating theater instruments bending apparatus according to claim 1 is characterized in that,

Described toggle section is arranged between body shaft and the described terminal operating portion, perhaps on the more than one mid portion of described body shaft.

16. the apparatus with multi-functional surgery device is characterized in that, comprising:

Main body;

A pair of operation member is located at the end of described main body, contacts with human body and carries out surgical operation;

The joint portion is connected between described main body and a pair of operation member, make described a pair of operation member have a plurality of collaborative partys to, thereby can implement multiple different surgical operation;

The driving force transmission member is connected at least one side in described a pair of operation member and the joint portion, so that described a pair of operation member can be implemented surgical operation.

17. the apparatus with multi-functional surgery device according to claim 16 is characterized in that,

Described joint portion comprises: a pair of rotary body connects into and can relatively rotate centered by by the first axle of described body abutment; A pair of the second axle is can counterrotating mode connecting described each rotary body and the described member of respectively performing the operation.

18. the apparatus with multi-functional surgery device according to claim 17 is characterized in that,

Described the first axle and a pair of the second axle are with mutually orthogonal direction configuration.

19. the apparatus with multi-functional surgery device according to claim 16 is characterized in that,

Described a pair of operation member is made of not mobile fixing operation member and the had an operation member that moves to a plurality of directions centered by this fixing operation member,

Described joint portion comprises: be fixedly connected with section, connect described fixing operation member and main body; Movable connecting portion is used for connecting described member and described fixing operation member or the main body of having an operation.

20. the apparatus with multi-functional surgery device according to claim 19 is characterized in that,

Described movable connecting portion comprises: rotary body, rotate centered by the first axle of be fixed operation member or body abutment; The second axle is can counterrotating mode to connect described rotary body and can have an operation between the member.

21. the apparatus with multi-functional surgery device according to claim 19 is characterized in that,

Described movable connecting portion is made of globe joint or free bend joint.

22. the apparatus with multi-functional surgery device according to claim 16 is characterized in that,

Described joint portion is to be connected to described main body and a plurality of globe joints between the member of respectively performing the operation.

23. the apparatus with multi-functional surgery device according to claim 16 is characterized in that,

Described joint portion is to be connected to described main body and a plurality of free bend joints between the member of respectively performing the operation.

24. each described apparatus with multi-functional surgery device in 23 is characterized in that according to claim 16,

Described driving force transmission member is the operation cable at least one side that is connected in described joint portion or a pair of operation member.

25. each described apparatus with multi-functional surgery device in 23 is characterized in that according to claim 16,

Described driving force transmission member is bar or the steel wire at least one side that is connected in described joint portion or a pair of operation member.

26. each described apparatus with multi-functional surgery device in 23 is characterized in that according to claim 16,

Described driving force transmission member is made of a plurality of bars, and at least one rod becomes tubular structure, thus can be under the state that other bar inserts transmission of drive force.

27. each described apparatus with multi-functional surgery device in 23 is characterized in that according to claim 16,

Described a pair of operation member constitutes, in the first collaborative party to carrying out the tweezers function, in the second collaborative party to carrying out the shears function.

28. the actuator structure of an operating theater instruments is combined in the operating theater instruments terminal part and carries out holding action, it is characterized in that, comprising:

The first jaw;

The second jaw contacts with the clamping face of the first jaw along with its clamping face and carries out holding action;

The first rotating disk can be rotatably set on the first jaw;

The second rotating disk can be rotatably set on the second jaw, and opposite with described the first rotating disk.

29. the actuator structure of operating theater instruments according to claim 28 is characterized in that,

Described the first rotating disk is arranged on described the first jaw in its surface and the clamping face of described the first jaw mode in the same plane,

Described the second rotating disk is arranged on described the second jaw in its surface and the clamping face of described the second jaw mode in the same plane.

30. the actuator structure of operating theater instruments according to claim 28 is characterized in that,

Be provided with projection in that described the first rotating disk is outstanding, be formed with the groove of accommodating described projection and be recessed at described the second rotating disk.

31. the actuator structure of operating theater instruments according to claim 28 is characterized in that,

Be provided with the first projection in that described the first rotating disk is outstanding, and on described the second rotating disk with described the first projection outstanding second projection that is provided with correspondingly.

32. the actuator structure of operating theater instruments according to claim 28 is characterized in that,

Described the first rotating disk is supported on the first jaw by elastomer, so that its surface is outstanding from the clamping face of described the first jaw.

33. the actuator structure of operating theater instruments according to claim 32 is characterized in that,

When in operation described the first jaw and described the second jaw at least one and when carrying out holding action greater than the strength of elastomer elastic force, described the first rotating disk is forced into described the first jaw, causes its rotation to suffer restraints.

34. the actuator structure of operating theater instruments according to claim 33 is characterized in that,

The surface relative with described the first jaw at described the first rotating disk is formed with the first projection or the first groove, and is formed be used to second groove of accommodating described the first projection or is housed in the second projection in described the first groove at described the first jaw.

35. the actuator structure of operating theater instruments according to claim 32 is characterized in that,

Described the second rotating disk is supported on described the first jaw by elastomer, so that its surface is outstanding from the clamping face of described the second jaw.

36. the actuator structure of operating theater instruments according to claim 35 is characterized in that,

When in operation described the first jaw and described the second jaw at least one and when carrying out holding action greater than the strength of elastomer elastic force, described the second rotating disk is forced into described the second jaw, causes its rotation to suffer restraints.

37. the actuator structure of operating theater instruments according to claim 36 is characterized in that,

The surface relative with described the second jaw at described the second rotating disk is formed with the first projection or the first groove, and is formed be used to second groove of accommodating described the first projection or is housed in the second projection in described the first groove at described the second jaw.

38. the actuator structure of operating theater instruments according to claim 28 is characterized in that,

The surface of described rotating disk is formed by material and the pattern forming identical with described clamping face.

39. the actuator structure of operating theater instruments according to claim 28 is characterized in that,

The surface of described rotating disk is formed by at least a above elastic material that has that is selected from rubber, silica gel, the polyurethane.

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