技术领域technical field
本发明涉及外科手术器械的弯曲装置、多功能结构及执行器结构。The invention relates to a bending device, a multifunctional structure and an actuator structure of a surgical instrument.
背景技术Background technique
医学上的手术指使用医疗器械对皮肤、粘膜或其它组织进行切开、切割或进行操作而治愈病灶。特别是，切开手术部位皮肤而对其内部器官等进行治疗、整形或切除的剖腹手术等，由于出现出血、副作用、患者痛苦、疤痕等问题，最近作为替代方案，使用机器人（robot）的腹腔镜手术备受欢迎。Medical surgery refers to the use of medical instruments to incise, cut or manipulate skin, mucous membranes or other tissues to heal lesions. In particular, laparotomy, in which the skin of the surgical site is incised to treat, reshape, or remove the internal organs, etc., has recently been replaced by the use of a robot in the abdominal cavity due to problems such as bleeding, side effects, patient pain, and scars. Mirror surgery is very popular.
这种手术机器人包括主（master）机器人和从（slave）机器人，该主机器人通过医生操作生成所需信号并进行传送，该从机器人从主机器人接收信号之后直接对患者进行手术所需操作，主机器人和从机器人可以整体构成，或者分别以单独的装置构成，且配置在手术室的状态下进行手术。This kind of surgical robot includes a master robot and a slave robot. The master robot generates and transmits the required signals through the operation of the doctor. The slave robot directly performs the required operation on the patient after receiving the signal from the master robot. The robot and the slave robot may be configured as a whole, or may be configured as separate devices and placed in an operating room to perform surgery.
手术机器人具备器械（instrument），该器械以安装在从机器人的机器臂上的状态下插入到人体皮肤粘膜或皮肤内而进行切开组织等手术作业。The surgical robot includes an instrument that is inserted into the skin, mucous membrane or skin of a human body while being attached to a robotic arm of the robot to perform surgical operations such as incision of tissue.
这种器械目前已开发使用着为了实现末端执行器（end effector）、即末端操作部的自由操作而在其中间部具备弯曲装置的器械。In order to realize the free operation of an end effector (end effector), that is, an end operation part, a device having a bending device in the middle part thereof has been developed and used at present.
首先，参考现有技术察看器械的弯曲装置。图1至图7是美国专利7320700所公开的附图。在此，直接附加了美国专利公报所公开的附图，而附图标记等未变更，并以主要部分为中心进行说明。First, look at the bending means of the instrument with reference to the prior art. 1 to 7 are drawings disclosed in US Patent No. 7,320,700. Here, the drawings disclosed in the US Patent Gazette are directly attached, and the reference numerals and the like are not changed, and the main parts will be mainly described.
图1是表示具备弯曲装置的器械（instrument）的示意图，一般地，这种器械安装在从机器人的机器臂上进行操作，或者连接在手动（hand-held）手术器械的操作部上进行手术作业。Fig. 1 is a schematic diagram showing an instrument (instrument) equipped with a bending device. Generally, such an instrument is installed on the robot arm for operation, or is connected to the operating part of a manual (hand-held) surgical instrument for surgical operations. .
在图1中，附图标记10表示作为弯曲装置的主要构成部的肘节（wrist），附图标记12表示末端操作部，附图标记14表示与操作部连接的主体轴。In FIG. 1 , reference numeral 10 denotes a wrist that is a main component of the bending device, reference numeral 12 denotes a distal operating portion, and reference numeral 14 denotes a main body shaft connected to the operating portion.
图2是示出以所述肘节10为中心的弯曲装置部分的详细图，肘节部10构成为，在具有螺旋弹簧结构的绕线（wrap）34内侧设置有与海波管26连接的缆线24，而外部具备收缩管36的结构，海波管26被推拉时绕线34和收缩管36起到使缆线24保持各自固定距离的作用。2 is a detailed view showing the part of the bending device centering on the wrist 10. The wrist 10 is configured such that a wire connected to the hypotube 26 is provided inside a wrap 34 having a coil spring structure. The cable 24 has a shrink tube 36 structure on the outside. When the hypo tube 26 is pushed and pulled, the coil 34 and the shrink tube 36 play a role in keeping the cable 24 at a fixed distance.
然而，如图2所示的弯曲装置，利用绕线34和收缩管36来保持基于海波管26和缆线24的弯曲状态，因此，存在整体结构复杂的同时由于收缩管36的伸缩性导致无法提供足够的弯曲状态支承力的问题。所述弯曲装置通过绕线34和收缩管36来保持弯曲状态，然而末端操作部被施加力的情况下，仅通过绕线34和收缩管36难以确保用于保持弯曲状态的更强大的支承力。因此，发生器械的可靠性下降的问题。However, the bending device shown in FIG. 2 utilizes the winding wire 34 and the shrink tube 36 to keep the bent state based on the hypotube 26 and the cable 24. Therefore, the overall structure is complicated and cannot be achieved due to the flexibility of the shrink tube 36. The problem of providing adequate bending state support. The bending device maintains the bent state by the winding wire 34 and the shrink tube 36. However, when a force is applied to the terminal operation part, it is difficult to ensure a stronger supporting force for maintaining the bent state only by the winding wire 34 and the shrink tube 36. . Therefore, there is a problem that the reliability of the device is lowered.
另一方面，通过图3至图5被公开的上述美国专利的另一技术是在螺旋弹簧222之间插入有两个圆盘224的结构，此时如图4和图5所示，在圆盘224内部的两侧突出形成有舌片226，以便插入到螺旋弹簧222之间。此时，两个圆盘的舌片以90°角度从不同位置插入到螺旋弹簧222之间。On the other hand, another technique of the above-mentioned U.S. patent disclosed through FIGS. 3 to 5 is a structure in which two discs 224 are inserted between coil springs 222. Tongues 226 protrude from both sides inside the disc 224 so as to be inserted between the coil springs 222 . At this time, the tongues of the two discs are inserted between the coil springs 222 from different positions at an angle of 90°.
此外，图6和图7是表示环绕所述螺旋弹簧周围而设置的外装组件。In addition, FIG. 6 and FIG. 7 show an exterior assembly provided around the coil spring.
而且，如上所述的美国专利的另一技术也是整体结构复杂，特别是，构成为仅在螺旋弹簧222之间插入两个圆盘224，因此不同圆盘的舌片226不容易在准确位置上发挥作用，由此难以确保强大而均匀支承力。Moreover, another technology of the above-mentioned U.S. patent also has a complex overall structure, especially, it is only constituted to insert two discs 224 between the coil springs 222, so the tongues 226 of different discs are not easy to be in the exact position. function, making it difficult to ensure a strong and uniform bearing force.
最终，如在上面说明的美国专利以及现有技术中的弹簧或与其类似结构物设置在外装组件内，用于调节末端操作部的弯曲状态后将其恢复到原状态，然而简化所有组件而实现更有效的机械构成存在局限性。特别是，难以稳固保持肘节的弯曲状态，因此存在手术器械的可靠性下降的问题。Finally, as in the above-mentioned U.S. patent and the prior art, springs or structures similar thereto are provided in the exterior assembly for adjusting the bending state of the end operation part and returning it to the original state, however simplifying all components to achieve There are limitations to more efficient mechanical configurations. In particular, it is difficult to securely maintain the bent state of the toggle, and thus there is a problem that the reliability of the surgical instrument is reduced.
此外，图25是美国专利公开号5797900所公开的附图，表示安装在从机器人的机器臂上而插入到人体皮肤粘膜或皮肤内进行切开组织等的器械（instrument）10。In addition, FIG. 25 is a drawing disclosed in US Patent Publication No. 5,797,900, showing an instrument (instrument) 10 mounted on a robot arm and inserted into human skin, mucous membrane or skin to incise tissue or the like.
图25所示的器械10，在管构件12的一侧端部上具备用于进行手术的一对手术构件14，虽然未图示，在与手术构件14相反侧的管构件12上具备与机器臂的适配器结合的器械外壳（未图示）。The apparatus 10 shown in Figure 25 is equipped with a pair of operating members 14 for performing surgery on one end of the tubular member 12. The instrument housing (not shown) to which the adapter of the arm engages.
在手术构件14和器械10外壳之间连接有通过管构件12的内部连接的操作缆线C1、C2。操作缆线C1、C2由两个缆线形成一对，并分别连接于手术构件14a、14b上，以使各手术构件14a、14b能够进行动作。即，一对操作缆线C1能够使第一手术构件14a移动，而另一对操作缆线C2能够使第二手术构件14b移动。Between the operative member 14 and the housing of the instrument 10 are connected operating cables C1 , C2 connected through the interior of the tubular member 12 . The operation cables C1 and C2 form a pair of two cables and are respectively connected to the operation members 14a and 14b so that the respective operation members 14a and 14b can be operated. That is, one pair of operation cables C1 can move the first operative member 14a, and the other pair of operation cables C2 can move the second operative member 14b.
为此，第一和第二手术构件14a、14b分别随着连接有两对操作缆线C1、C2的旋转体部15a、15b的旋转，以连接轴16为中心可旋转地连接在肘节（wrist）体17的前侧部分。For this reason, the first and second operating members 14a, 14b are rotatably connected to the toggle ( wrist) body 17 front side part.
肘节体17可旋转地连接于上述管构件12上，在用于连接该肘节体17和管构件12的轴上具有惰轮19，该惰轮19用于引导并支承两对操作缆线C1、C2的移动。The toggle body 17 is rotatably connected to the above-mentioned pipe member 12, and an idler 19 is provided on the shaft for connecting the toggle body 17 and the pipe member 12, and the idler 19 is used to guide and support two pairs of operating cables Movement of C1 and C2.
如此构成的器械10，以连接在从（slave）机器人的机器臂上的状态下，通过医生操作主（master）机器人来启动器械10的驱动部，并通过驱动部推拉所述两对操作缆线C1、C2，因此一对手术构件14a、14b可以通过彼此贴紧或分开来进行切开身体组织等的手术。The device 10 thus constituted is connected to the robot arm of the slave robot, and the doctor operates the master robot to activate the driving part of the device 10 and push and pull the two pairs of operation cables through the driving part. C1, C2, therefore, the pair of operating members 14a, 14b can be attached to or separated from each other to perform operations such as incision of body tissue.
然而，包括如上所述美国专利所公开的器械10的现有器械，由两个手术构件成对而进行手术，因此存在只能作为切开用、夹钳用等一种手术工具利用的局限性。However, the existing instruments, including the instrument 10 disclosed in the above-mentioned U.S. patent, are operated in pairs by two operative members, so there is a limitation that it can only be used as a surgical tool for incision, clamps, etc. .
一般，做一次手术时需要分别具有不同功能的医疗工具，手术机器人也需要使用分别具有不同功能的各种器械10。然而，若使用分别具有独立功能的各种器械进行手术，则需要将各种器械同时插入到人体内的状态下分别操作符合功能的器械，或者根据需要更换具有所需功能的器械之后再插入到人体内进行手术，因此存在所需手术时间较长且手术过程也复杂的问题。Generally, medical tools with different functions are required for a single operation, and surgical robots also need to use various instruments 10 with different functions. However, if a variety of instruments with independent functions are used for surgery, it is necessary to insert the various instruments into the human body at the same time and operate the instruments that meet the functions respectively, or replace the instruments with the required functions as needed and then insert them into the human body. Since the operation is performed inside the human body, there are problems that the required operation time is long and the operation process is also complicated.
另一方面，对手动（hand-held）手术器械而言，末端操作是通过医生的手等来手动进行而并非机器人来进行，只有这点上存在差异，上述器械本身的结构和操作原理几乎与前面描述的类似，因此存在类似问题。On the other hand, for manual (hand-held) surgical instruments, the terminal operation is performed manually by the doctor's hand, etc., not by a robot. The only difference is that the structure and operating principle of the above-mentioned instruments are almost the same Similar to what was described earlier, so there is a similar problem.
此外，现有的用于腹腔镜手术的手术用器械，在其长度方向延伸的轴的末端上结合有刀具（cutter）、夹持器（gripper）、电手术用探针（probe）、缝合器（stapler）等执行器（effector）。使用安装有夹持器的器械时，以往很难在患者体内夹持（gripping）组织或脏器的状态下旋转或移动器械，因此需要放开所夹持的组织或脏器而移动器械之后再次夹持该组织或脏器。如图48所示，用现有的器械3夹持组织或脏器的状态下旋转器械3时，可能发生素所夹持的组织或脏器（参照图48的“T”）撕裂或损伤的事故。In addition, existing surgical instruments for laparoscopic surgery combine cutters, grippers, probes for electrosurgery, and staplers at the ends of shafts extending in the lengthwise direction. (stapler) and other actuators (effector). When using a device with a gripper, it was difficult to rotate or move the device in the state of gripping tissues or organs in the patient's body, so it was necessary to release the gripped tissue or organ and move the device again. Clamp the tissue or organ. As shown in Fig. 48, when the device 3 is rotated while the conventional device 3 is holding the tissue or organ, the tissue or organ held by Su (refer to "T" in Fig. 48) may be torn or damaged. accident.
发明内容Contents of the invention
技术问题technical problem
本发明是为了解决上述问题而提出，目的在于，提供一种能够以简单结构顺利传递末端操作部的弯曲操作力的同时，在弯曲状态下能够确保更强大的支承力从而提高器械可靠性的手术器械用弯曲装置。The present invention is proposed to solve the above-mentioned problems, and its purpose is to provide an operation device that can smoothly transmit the bending operation force of the terminal operation part with a simple structure, and at the same time ensure a stronger support force in the bending state, thereby improving the reliability of the device. Bending devices for instruments.
另外，本发明目的在于，提供一种不必更换手术工具而利用一对手术构件就能够进行各种手术作业，从而可提高手术作业的方便性和效率的具有多功能的外科手术用装置的器械。Another object of the present invention is to provide a multifunctional surgical device that can perform various surgical operations using a pair of surgical members without replacing surgical tools, thereby improving the convenience and efficiency of surgical operations.
此外，目的在于，提供一种在夹持状态下也能够自由旋转器械且根据需要在可旋转夹持和固定夹持之间进行选择的手术用器械的执行器结构。Another object is to provide an actuator structure for a surgical instrument that can freely rotate the instrument even in the clamped state and select between rotatable clamping and fixed clamping as needed.
解决问题的方法way of solving the problem
用于解决所述问题的本发明涉及的手术器械用弯曲装置，包括用于使末端操作部进行自如弯曲动作的肘节部，所述肘节部包括：线材部，形成螺旋结构，两端分别连接在连接体上；多个突起部，在构成所述线材部的线材之间向螺旋节距方向突出，当通过操作缆线的推拉动作而使所述线材部弯曲时，诱导所述线材部变形或保持变形状态。The bending device for a surgical instrument according to the present invention for solving the above-mentioned problems includes a toggle portion for freely bending the terminal operating portion, and the toggle portion includes: a wire portion forming a helical structure, with two ends respectively connected to the connecting body; a plurality of protrusions protruding in the direction of the helical pitch between the wires constituting the wire part, and inducing the wire part when the wire part is bent by the push-pull action of the operation cable deform or remain deformed.
所述肘节部可以设置在主体轴与所述末端操作部之间，或者所述主体轴的一个以上的中间部分上。The toggle portion may be provided between the main body shaft and the terminal operation portion, or at one or more intermediate portions of the main body shaft.
在主体轴与末端操作部之间具备通过操作缆线弯曲的肘节部，其特征在于，所述肘节部包括：线材部，形成螺旋结构，其两端部分别连接在所述主体轴和末端操作部上；多个突起部，在构成所述线材部的线材之间沿着螺旋节距方向突出，当通过所述操作缆线的推拉动作使线材部弯曲时，诱导线材部变形或保持变形状态。Between the main body shaft and the terminal operation part, there is a toggle part that is bent by the operation cable. on the terminal operation part; a plurality of protrusions protruding in the helical pitch direction between the wires constituting the wire part, and inducing deformation or retention of the wire part when the wire part is bent by the push-pull action of the operation cable deformed state.
优选在所述线材部上沿着肘节部的长度方向连续形成有多个缆线孔，以供所述操作缆线通过。Preferably, a plurality of cable holes are continuously formed on the wire part along the length direction of the toggle part for the operation cables to pass through.
优选所述线材部包括：螺旋部，具有螺旋结构；两侧固定部，形成为圆环结构，并且连接在所述螺旋部的两端部上，且分别固定于所述主体轴和末端操作部。Preferably, the wire part includes: a helical part having a helical structure; fixed parts on both sides are formed into a ring structure and are connected to both ends of the helical part and fixed to the main body shaft and the terminal operation part respectively. .
所述线材部可以构成为，使所述螺旋部具有压缩或拉伸模量。The wire part can be configured such that the helix has a compressive or tensile modulus.
优选所述突起部使构成所述线材部的线材之间能够沿着线材部的旋转方向相互约束。Preferably, the protruding portion enables the wires constituting the wire portion to constrain each other along the rotation direction of the wire portion.
优选所述突起部，在一侧末端部被固定于一侧线材上的状态下向节距方向突出，而该突出的另一侧末端部与相邻的另一线材分离的状态下被支承。Preferably, the protruding portion protrudes in the pitch direction in a state where one end portion is fixed to one wire rod, and is supported in a state where the protruding other end portion is separated from the other adjacent wire rod.
此时，优选所述突起部和与该突起部接触的线材部分以相对应的形状形成，从而能够彼此紧密接触。At this time, it is preferable that the protruding portion and the portion of the wire material that is in contact with the protruding portion are formed in a corresponding shape so as to be in close contact with each other.
为此，优选所述突起部的末端部形成为半球型结构，而与该突起部接触的线材部分形成凹入的半球型结构。For this reason, it is preferable that the end portion of the protrusion is formed in a hemispherical structure, and the portion of the wire material in contact with the protrusion is formed in a concave hemispherical structure.
优选所述突起部在所述线材部的圆周方向上沿着螺旋分别隔着规定角度形成。Preferably, the protrusions are formed at predetermined angles along a helix in the circumferential direction of the wire part.
即，可以在所述线材部的圆周方向上沿着螺旋在180°～360°的角度范围内每隔规定角度形成所述突起部。That is, the protrusions may be formed at predetermined angles within an angle range of 180° to 360° along the spiral in the circumferential direction of the wire portion.
更优选，可以在所述线材部的圆周方向上沿着螺旋每隔240°角度形成所述突起部。More preferably, the protruding portion may be formed every 240° along the spiral in the circumferential direction of the wire portion.
另一方面，在与所述突起部相对应的另一侧线材上也可以形成有支承部，该支承部向突起部方向突出以能够支承所述突起部。On the other hand, a supporting portion may be formed on the wire rod at the other side corresponding to the protruding portion, and the supporting portion protrudes toward the protruding portion so as to be able to support the protruding portion.
此外，所述突起部也可以构成为使两端部均固定在两侧线材上，与此相反，所述突起部也可以构成为均与两侧线材分离。均分离时，优选在两侧线材上形成有凹槽结构的插入部，以使突起部的两端部能够插入。In addition, the protruding portion may be configured such that both ends thereof are fixed to the wire rods on both sides, and on the contrary, the protruding portion may be configured to be separated from both the wire rods on both sides. When both are separated, it is preferable to form an insertion part with a groove structure on the wire rods on both sides, so that both ends of the protrusion can be inserted.
此外，本发明的另一实施方式涉及的具有多功能的外科手术装置的器械，其特征在于，包括：主体；一对手术构件，设在所述主体的末端，与人体接触而进行手术作业；结合部，连接在所述主体和一对手术构件之间，以使所述一对手术构件具有多个协同方向，从而能够实施多种不同手术作业；驱动力传递构件，连接在所述一对手术构件和结合部中的至少一侧上，使得所述一对手术构件能够实施手术作业。In addition, another embodiment of the present invention relates to an instrument with a multi-functional surgical device, which is characterized in that it includes: a main body; a pair of surgical components, which are arranged at the end of the main body, and are in contact with the human body to perform surgical operations; The joint part is connected between the main body and a pair of operative components, so that the pair of operative components have multiple cooperative directions, so that various operations can be performed; the driving force transmission member is connected between the pair of operative components. On at least one side of the operative member and the joint portion, the pair of operative members can perform surgical operations.
根据本发明的一实施例，所述结合部包括：一对旋转体，连接成能够以被所述主体支承的第一轴为中心进行相对旋转；一对第二轴，用于连接所述各旋转体和所述各手术构件以能够进行相对旋转。According to an embodiment of the present invention, the coupling part includes: a pair of rotating bodies connected to be capable of relative rotation around the first shaft supported by the main body; a pair of second shafts used to connect the The rotator and each of the operative components can be relatively rotatable.
此时，优选所述第一轴和一对第二轴以相互正交的方向配置。In this case, it is preferable that the first axis and the pair of second axes are arranged in directions orthogonal to each other.
根据本发明的另一实施例，所述一对手术构件由不移动的固定手术构件以及以该固定手术构件为中心向多个方向移动的可动手术构件构成，所述结合部包括：固定连接部，用于连接所述固定手术构件和主体；可动连接部，用于连接所述可动手术构件和所述固定手术构件或主体。According to another embodiment of the present invention, the pair of operative members are composed of a fixed operative member that does not move and a movable operative member that moves in multiple directions around the fixed operative member, and the joint portion includes: a fixed connection a part for connecting the fixed operative member and the main body; a movable connecting part for connecting the movable operative member with the fixed operative member or the main body.
此时，优选所述可动连接部包括：旋转体，以被固定手术构件或主体支承的第一轴为中心旋转；第二轴，可相对旋转地连接所述旋转体和可动手术构件。In this case, it is preferable that the movable connecting part includes: a rotating body rotating about a first shaft supported by the fixed operating member or the main body; and a second shaft connecting the rotating body and the movable operating member so as to be relatively rotatable.
与此不同，所述可动连接部也可以由球形接头或自由弯曲接头构成。In contrast to this, the movable connection can also be formed by a ball joint or a free-bending joint.
根据本发明的另一实施例，所述结合部可以由被连接在所述主体和各手术构件之间的多个球形接头构成，或者由被连接在所述主体和各手术构件之间的多个自由弯曲接头构成。According to another embodiment of the present invention, the joint part can be composed of a plurality of ball joints connected between the main body and each operative member, or a plurality of ball joints connected between the main body and each operative member. composed of free-bending joints.
另一方面，所述驱动力传递构件可以由操作缆线构成，该操作缆线被连接在所述结合部或一对手术构件中的至少一侧上。On the other hand, the driving force transmission member may be constituted by an operation cable connected to at least one side of the coupling portion or the pair of operation members.
与此不同，所述驱动力传递构件也可以由杆或钢丝构成，该杆或钢丝被连接在所述结合部或一对手术构件中的至少一侧上。On the other hand, the driving force transmission member may be formed of a rod or a wire connected to at least one side of the coupling portion or the pair of surgical members.
此外，所述驱动力传递构件可以由多个杆构成，但至少一个杆形成为管状结构，从而能够在其它杆插入的状态下传递驱动力。Also, the driving force transmission member may be constituted by a plurality of rods, but at least one rod is formed into a tubular structure so that the driving force can be transmitted with the other rods inserted.
根据本发明的实施例，所述一对手术构件可以构成为，在第一协同方向执行镊子功能，在第二协同方向执行剪刀功能。According to an embodiment of the present invention, the pair of operative members may be configured to perform a forceps function in a first cooperative direction and perform a scissors function in a second cooperative direction.
此外，本发明的另一实施方式涉及的手术器械，作为结合在其末端部而进行夹持动作的执行器（effector）结构，包括：第一钳口（jaw）；第二钳口，随着其夹持面与第一钳口的夹持面接触从而进行夹持动作；第一转盘，可旋转地设置在第一钳口上；第二转盘，可旋转地设置在第二钳口上，且与第一转盘相对置。In addition, the surgical instrument according to another embodiment of the present invention, as an effector structure combined with its distal end to perform clamping action, includes: a first jaw (jaw); a second jaw, with Its clamping surface is in contact with the clamping surface of the first jaw to carry out the clamping action; the first turntable is rotatably arranged on the first jaw; the second turntable is rotatably arranged on the second jaw, and is connected with The first turntables are opposite to each other.
第一转盘以其表面与第一钳口的夹持面位于同一平面上的方式设置在第一钳口上，第二转盘以其表面与第二钳口的夹持面位于同一平面上的方式设置在第二钳口上。The first turntable is set on the first jaw in such a way that its surface is on the same plane as the clamping surface of the first jaw, and the second turntable is set on the way that its surface is on the same plane as the clamping surface of the second jaw on the second jaw.
在第一转盘上可以突出设置有突起，而在第二转盘上凹入形成有凹槽，以便收容突起。此外，在第一转盘上可以突出设置有第一突起，而在第二转盘上与第一突起相应地突出设置有第二突起。Protrusions may be protrudingly provided on the first turntable, and grooves may be recessed and formed on the second turntable for accommodating the protrusions. In addition, a first protrusion may be protrudingly provided on the first turntable, and a second protrusion may be protrudingly provided on the second turntable corresponding to the first protrusion.
第一转盘可以通过弹性体被支承在第一钳口上，使得其表面从第一钳口的夹持面突出，此时，操作第一钳口和/或第二钳口而以大于弹性体弹力的力量进行夹持动作时，第一转盘可被压到第一钳口上，从而其旋转受约束。为此，可以在第一转盘的与第一钳口相对的表面上形成突起或凹槽，而在第一钳口上形成与第一转盘的突起或凹槽相对应的凹槽或突起。The first turntable can be supported on the first jaw by an elastic body so that its surface protrudes from the clamping surface of the first jaw. When clamping with a strong force, the first turntable can be pressed onto the first jaw so that its rotation is constrained. For this purpose, protrusions or grooves may be formed on the surface of the first turntable opposite to the first jaw, and grooves or protrusions corresponding to the protrusions or grooves of the first turntable may be formed on the first jaw.
此外，第二转盘可以通过弹性体被支承在第一钳口上，使得其表面从第二钳口的夹持面突出，此时，操作第一钳口和/或第二钳口而以大于弹性体弹力的力量进行夹持动作时，第二转盘可被压到第二钳口上，从而其旋转受约束。为此，可以在第二转盘的与第二钳口相对的表面上形成第一突起或第一凹槽，而在第二钳口上形成用于收容第一突起的第二凹槽或被收容在第一凹槽内的第二突起。In addition, the second turntable can be supported on the first jaw by an elastic body so that its surface protrudes from the clamping surface of the second jaw. When clamping by body elastic force, the second turntable can be pressed onto the second jaw so that its rotation is constrained. For this reason, a first protrusion or a first groove can be formed on the surface of the second turntable opposite to the second jaw, and a second groove for accommodating the first protrusion can be formed on the second jaw or be accommodated in the second jaw. The second protrusion in the first groove.
转盘的表面可以由与夹持面相同的材料和图案成型形成，或者由具有弹性的橡胶、硅胶、聚氨酯等材料形成。The surface of the turntable can be formed of the same material and pattern as the clamping surface, or can be formed of elastic rubber, silica gel, polyurethane and other materials.
如上所述的本发明的主要问题解决方法，可以通过下面描述的‘具体实施方式’或‘附图’等的例示会更加详细明确，此时，除了如上所述的主要问题解决方法之外，增加提出本发明涉及的各种问题解决方法来进行说明。发明效果The method for solving the main problems of the present invention as described above can be clarified in more detail through illustrations such as "detailed description" or "drawings" described below. In this case, in addition to the methods for solving the main problems described above, The various problem-solving methods involved in the present invention are proposed for explanation. Invention effect
本发明涉及的手术器械的弯曲装置，在具有螺旋结构的线材部之间向螺旋节距方向形成有突起部，因此能够以整体简单的结构顺利传递末端操作部的弯曲操作力，特别是，肘节部被弯曲的状态下，能够确保更强大的支承力，所以具有能够提高包括末端操作部操作的设备可靠性的效果。In the bending device of the surgical instrument according to the present invention, the protrusions are formed in the direction of the helical pitch between the wire parts having a helical structure, so the bending operation force of the terminal operation part can be smoothly transmitted with an overall simple structure. In the bent state of the node portion, a stronger supporting force can be ensured, so there is an effect that the reliability of the device including the operation of the terminal operation unit can be improved.
此外，本发明涉及的手术器械用弯曲装置，突起部构成为能够在旋转方向上约束线材时，当主体轴提供旋转方向的操作力时，能够防止螺旋型线材部扭结，从而使主体轴旋转时末端操作部也能够顺利旋转。In addition, in the bending device for a surgical instrument according to the present invention, when the protrusion is configured to constrain the wire in the rotational direction, when the main body shaft provides an operating force in the rotational direction, it is possible to prevent the helical wire part from being kinked, so that when the main body shaft rotates The terminal operation part can also be rotated smoothly.
此外，本发明涉及的具有多功能的外科手术装置的器械，可以在一个器械上利用多个手术工具，因此不必更换器械也能够简便迅速地进行手术。即，本发明是可以将具有一对手术构件的一个器械作为各种手术工具使用，因此实现了多功能器械，从而能够缩短器械更换时间等手术时间和减少插入到体内的器械数量等，简化了手术过程，同时，手术机器人的情况也可以简化整个机器人所必须的结构，对患者来说，迅速进行手术从而能够减少手术费用等，大幅提高手术作业的简便性和效率。In addition, the multifunctional surgical device according to the present invention can use a plurality of surgical tools on one device, so that surgery can be performed simply and quickly without changing the device. That is, the present invention can use one instrument with a pair of operative members as various surgical tools, thereby realizing a multifunctional instrument, thereby shortening operation time such as instrument replacement time and reducing the number of instruments inserted into the body, etc., simplifying At the same time, the situation of the surgical robot can also simplify the necessary structure of the entire robot. For the patient, the operation can be performed quickly to reduce the operation cost, etc., and the simplicity and efficiency of the operation can be greatly improved.
此外，根据本发明涉及的器械结构，通过在手术器械的夹持器上增设转盘，能够在使用转盘夹持组织或脏器的状态下使器械旋转自如。而且，使转盘的表面与夹持面相同，或者使转盘弹性支承在钳口上，从而能够根据需要选择可旋转夹持或固定夹持来进行手术。In addition, according to the instrument structure of the present invention, by adding a turntable to the holder of the surgical instrument, the instrument can be freely rotated while the tissue or organ is clamped by the turntable. Moreover, the surface of the turntable is the same as the clamping surface, or the turntable is elastically supported on the jaws, so that rotatable clamping or fixed clamping can be selected for surgery as required.
附图说明Description of drawings
图1至图7是表示美国专利号7320700所公开的附图。Figures 1 to 7 show drawings disclosed in US Patent No. 7,320,700.
图8至图17是表示本发明涉及的手术器械用弯曲装置的一实施例的示意图，其中，8 to 17 are schematic diagrams showing an embodiment of a bending device for a surgical instrument according to the present invention, wherein,
图8a和图8b是表示本发明涉及的手术器械用弯曲装置的一实施例的操作状态的立体图，8a and 8b are perspective views showing an operating state of an embodiment of a bending device for a surgical instrument according to the present invention,
图9是表示本发明涉及的手术器械用弯曲装置的一实施例的立体图，9 is a perspective view showing an embodiment of a bending device for a surgical instrument according to the present invention,
图10是表示图9中例示的肘节部的立体图，Fig. 10 is a perspective view showing the wrist portion illustrated in Fig. 9,
图11是图9中例示的肘节部的主视图，Fig. 11 is a front view of the wrist portion illustrated in Fig. 9,
图12是图9中例示的肘节部的俯视图，Fig. 12 is a plan view of the wrist portion illustrated in Fig. 9,
图13是本发明中突起部的配置结构的参考图，Fig. 13 is a reference diagram of the arrangement structure of the protrusions in the present invention,
图14是本发明中突起部的设置状态的详细剖视图，Fig. 14 is a detailed cross-sectional view of the setting state of the protruding part in the present invention,
图15至图17是本发明涉及的手术器械用弯曲装置的不同操作状态的示意图。15 to 17 are schematic diagrams of different operating states of the bending device for a surgical instrument according to the present invention.
图18至图19是本发明涉及的手术器械用弯曲装置的另一实施例的示意图。18 to 19 are schematic diagrams of another embodiment of a bending device for a surgical instrument according to the present invention.
图20是本发明涉及的手术器械用弯曲装置中突起部的设置位置不同的实施例的俯视图。Fig. 20 is a plan view of an embodiment in which the installation position of the protrusion is different in the bending device for surgical instrument according to the present invention.
图21和图22是本发明涉及的手术器械用弯曲装置的另一实施例的示意图，图21是整体立体图，图22是图21的“A”部分的详细剖视图。21 and 22 are schematic diagrams of another embodiment of the bending device for a surgical instrument according to the present invention, FIG. 21 is an overall perspective view, and FIG. 22 is a detailed cross-sectional view of part "A" of FIG. 21 .
图23和图24是与本发明的图22相对应的不同变形实施例的示意图，图23是突起部的两侧均被固定的状态的剖视图，图24是突起部的两侧均被分离的状态的剖视图。Figure 23 and Figure 24 are schematic views of different variant embodiments corresponding to Figure 22 of the present invention, Figure 23 is a cross-sectional view of a state where both sides of the protrusion are fixed, Figure 24 is a state where both sides of the protrusion are separated Cutaway view of the state.
图25是表示现有器械的立体图。Fig. 25 is a perspective view showing a conventional instrument.
图26至图32是示出本发明涉及的不同实施例的器械的示意图，其中，Figures 26 to 32 are schematic diagrams showing different embodiments of instruments involved in the present invention, wherein,
图26是立体图，Figure 26 is a perspective view,
图27是分解立体图，Figure 27 is an exploded perspective view,
图28是操作缆线连接状态的概略图，Fig. 28 is a schematic diagram of the connection state of the operation cable,
图29和图30是镊子使用状态图，Figure 29 and Figure 30 are diagrams of the use state of tweezers,
图31和图32是剪刀使用状态图。Fig. 31 and Fig. 32 are the state diagrams of scissors in use.
图33a至图35是示出本发明涉及的另一实施例的器械的示意图，其中，Fig. 33a to Fig. 35 are schematic diagrams showing another embodiment of the apparatus involved in the present invention, wherein,
图33a、图33b是侧视图，表示镊子使用状态的示意图，Figure 33a and Figure 33b are side views, schematic diagrams showing the state of use of tweezers,
图34a、图34b是俯视图，表示剪刀使用状态的示意图，Figure 34a and Figure 34b are top views, schematic views showing the state of scissors in use,
图35是后视图。Fig. 35 is a rear view.
图36a至图38是示出本发明涉及的另一实施例的器械的示意图，其中，Fig. 36a to Fig. 38 are schematic diagrams showing another embodiment of the apparatus involved in the present invention, wherein,
图36a、图36b是侧视图，表示镊子使用状态的示意图，Figure 36a and Figure 36b are side views, showing a schematic view of the state of use of the tweezers,
图37a、图37b是俯视图，表示剪刀使用状态的示意图，Figure 37a and Figure 37b are top views, schematic diagrams showing the state of scissors in use,
图38是后视图。Fig. 38 is a rear view.
图39是本发明涉及的另一实施例的器械的侧视图。Fig. 39 is a side view of an instrument according to another embodiment of the present invention.
图40至图43是本发明涉及的另一实施例的器械的示意图，Fig. 40 to Fig. 43 are schematic views of another embodiment of the apparatus involved in the present invention,
图40和图41是镊子使用状态的侧视图，Figure 40 and Figure 41 are side views of the tweezers in use,
图42和图43是剪刀使用状态的俯视图。Figure 42 and Figure 43 are top views of the scissors in use.
图44至图47是本发明涉及的另一实施例的器械的示意图，其中，Figures 44 to 47 are schematic diagrams of another embodiment of the apparatus involved in the present invention, wherein,
图44和图45是表示镊子使用状态的侧视图，Figure 44 and Figure 45 are side views showing the use state of tweezers,
图46和图47是表示剪刀使用状态的俯视图。Fig. 46 and Fig. 47 are plan views showing the state of using the scissors.
图48是现有技术涉及的手术器械的使用状态的示意图。Fig. 48 is a schematic diagram of a state of use of a surgical instrument related to the prior art.
图49是本发明的另一实施例涉及的手术器械的执行器结构的概念图。Fig. 49 is a conceptual diagram of an actuator structure of a surgical instrument according to another embodiment of the present invention.
图50是本发明的另一实施例涉及的手术器械的使用状态的示意图。Fig. 50 is a schematic diagram of a usage state of a surgical instrument according to another embodiment of the present invention.
图51是本发明的另一实施例涉及的手术器械的转盘的概念图。Fig. 51 is a conceptual diagram of a turntable of a surgical instrument according to another embodiment of the present invention.
图52是本发明的另一实施例涉及的手术器械的执行器结构的示意图。Fig. 52 is a schematic diagram of an actuator structure of a surgical instrument according to another embodiment of the present invention.
具体实施方式Detailed ways
参照附图说明本发明的优选实施例如下。Preferred embodiments of the present invention are described below with reference to the accompanying drawings.
首先，在说明本发明的图8a至图24的实施例时，附图中相同类似结构部分赋予了相同附图标记，省略重复说明。First of all, when describing the embodiment of the present invention shown in FIG. 8a to FIG. 24 , the same and similar structural parts in the drawings are given the same reference numerals, and repeated descriptions are omitted.
首先，参照图8a至图17说明本发明的一实施例。First, an embodiment of the present invention will be described with reference to FIGS. 8a to 17 .
图8a是表示手术仪器用器械的末端部的概略立体图，附图标记110表示被连接在从机器人的操作部或手动手术器械的操作部等上的主体轴。Fig. 8a is a schematic perspective view showing the distal end of the surgical instrument, and reference numeral 110 denotes a main body shaft connected to the operating part of the slave robot or the operating part of the manual surgical instrument.
主体轴110通常形成为中空的管状结构，能够使用于操作后述肘节部130的缆线115（参照图9）以及用于操作末端操作部120的缆线或者钢丝通过其内部。此外，在主体轴110的内部还可以具有用于对末端操作部120进行旋转操作的缆线。The main body shaft 110 is generally formed in a hollow tubular structure through which a cable 115 (see FIG. 9 ) for operating the toggle unit 130 described later and a cable or wire for operating the distal operation unit 120 can pass. In addition, a cable for rotating the distal operating part 120 may be provided inside the main body shaft 110 .
附图标记120表示末端执行器（end effector），即末端操作部，在本实施例的附图中例示出了剪刀式手术构件125，但并不限定于此，可以连接使用构成末端操作部120的已知的各种手术构件。例如，除了剪刀之外，还可以举出镊子、刀具、锥子、摄像机等。Reference numeral 120 represents an end effector (end effector), that is, a terminal operation part. In the drawings of this embodiment, a scissor-type surgical member 125 is illustrated, but it is not limited thereto. It can be connected and used to form an end operation part 120 Known various operative components. For example, in addition to scissors, tweezers, cutters, awls, video cameras, and the like can be mentioned.
附图标记130表示肘节部，该肘节部130用于连接主体轴110和末端操作部120之间，以使末端操作部120能够进行自如弯曲动作。Reference numeral 130 denotes a toggle portion for connecting between the main body shaft 110 and the distal operating portion 120 so that the distal operating portion 120 can freely bend.
肘节部130可以分别固定连接在主体轴110的末端部上所具有的连接体111和末端操作部120的后侧末端部上所具有的连接体121上。当然，肘节部130与主体轴110或末端操作部120的连接部分也可以连接成相对旋转。The toggle part 130 can be fixedly connected to the connecting body 111 provided on the terminal part of the main body shaft 110 and the connecting body 121 provided on the rear terminal part of the terminal operating part 120 . Of course, the connecting portion between the toggle portion 130 and the main body shaft 110 or the terminal operating portion 120 may also be connected so as to be relatively rotatable.
如图8a所示，这种肘节部130构成为，可以使末端操作部120以主体轴110为中心向包括前后左右方向的所有方向弯曲自如地进行手术作业。As shown in FIG. 8A , such an elbow part 130 is configured so that the distal operation part 120 can be flexibly performed in all directions including front, rear, left, and right directions around the main body axis 110 to perform surgical operations.
图8a示出了在肘节部130未覆盖有外套的结构，但根据实施条件，也可以覆盖不影响肘节部130弯曲动作的、足够薄的软质材料形成的外套。Fig. 8a shows that the elbow portion 130 is not covered with a jacket, but according to the implementation conditions, it can also be covered with a jacket formed of a sufficiently thin soft material that does not affect the bending action of the elbow portion 130.
此外，如上所述，肘节部130可以固定在主体轴110的连接体111和末端操作部120的连接体121之间，但并不限定于此，如图8b所示，肘节部130也可以连接固定在主体轴110的中间。即，肘节部130也可以结合固定在主体轴110的两个连接体111、112之间。除此之外，虽然未图示，肘节部130如图8a所示的可以设置在主体轴110的连接体111和末端操作部120的连接体124之间，同时如图8b所示的也可以设置在主体轴110的两个连接体111、112之间，根据情况，肘节部130也可以分别设置在主体轴110的两个连接体之间的两个以上部分。因此，末端操作部120通过一个以上的肘节部130以主体轴110为中心在包括前后左右方向的所有方向上能够更加弯曲自如，从而能够顺利进行手术作业。In addition, as mentioned above, the toggle part 130 can be fixed between the connecting body 111 of the main body shaft 110 and the connecting body 121 of the terminal operation part 120, but it is not limited thereto. As shown in FIG. It can be connected and fixed in the middle of the main body shaft 110 . That is, the toggle portion 130 may also be combined and fixed between the two connecting bodies 111 , 112 of the main body shaft 110 . In addition, although not shown in the figure, the toggle part 130 can be arranged between the connecting body 111 of the main body shaft 110 and the connecting body 124 of the terminal operation part 120 as shown in FIG. It may be provided between the two connecting bodies 111 and 112 of the main body shaft 110 , and the toggle portion 130 may also be provided at two or more parts between the two connecting bodies of the main body shaft 110 according to circumstances. Therefore, the distal operating portion 120 can be more flexibly bent in all directions including the front, rear, left, and right directions around the main body axis 110 through the one or more toggle portions 130 , thereby enabling smooth operation.
下面，说明如图8a所示的结合有肘节部130的手术用器械的结构和动作，但先说明，在如图8b所示的结构或者在多个部分具备肘节部130的结构中，肘节部130也能够进行类似动作。Next, the structure and action of the surgical instrument combined with the elbow portion 130 as shown in FIG. The toggle portion 130 can also perform a similar operation.
下面，参照图9至图17以所述肘节部130为中心详细说明本发明的主要构成部分。Hereinafter, main components of the present invention will be described in detail centering on the toggle portion 130 with reference to FIGS. 9 to 17 .
如图9所示，肘节部130构成为，通过连接于主体轴110内侧的操作缆线115弯曲自如。As shown in FIG. 9 , the toggle portion 130 is configured to be bendable via an operation cable 115 connected inside the main body shaft 110 .
在此，优选操作缆线115由如上所述的与操作部连接且能够进行推拉动作的钢丝构成。这种操作缆线在其末端部形成有挂钩117，从而能够设置在末端操作部120的连接体121（参照图8）上，或者可以悬挂或固定设置在后述肘节部130的固定部136上。Here, it is preferable that the operation cable 115 is composed of a steel wire connected to the operation portion as described above and capable of pushing and pulling. Such an operation cable has a hook 117 formed at its terminal end, so that it can be installed on the connecting body 121 (see FIG. 8 ) of the terminal operation part 120, or can be hung or fixed on the fixed part 136 of the toggle part 130 described later. superior.
所述肘节部130大致分为具有螺旋结构的线材部131和设置在该线材部131之间的突起部140。The toggle portion 130 is roughly divided into wire portions 131 having a helical structure and protrusions 140 disposed between the wire portions 131 .
首先，所述线材部131可以包括：螺旋部133，具有螺旋结构、即如螺旋弹簧那样的结构；和固定部135、136，连接在该螺旋部133的两端部，并分别与所述主体轴110和末端操作部120连接。First, the wire part 131 may include: a helical part 133 having a helical structure, that is, a structure such as a helical spring; The shaft 110 is connected to the distal operation part 120 .
优选螺旋部133由一根线材以螺旋（或线圈形状）结构连续连接，且内径和外径总体上相同地形成。此时，螺旋部133可以具有压缩弹性力或拉伸弹性力。Preferably, the spiral portion 133 is continuously connected in a spiral (or coil shape) structure by one wire, and the inner diameter and the outer diameter are generally formed to be the same. At this time, the spiral part 133 may have compressive elastic force or tensile elastic force.
固定部135、136是以圆环结构连接在螺旋部133的两侧末端部的部分，如上所述，是能够分别连接在主体轴110和末端操作部120的连接体111、121上的部分。The fixing parts 135 and 136 are parts connected to both ends of the helical part 133 in a ring structure, and are parts that can be connected to the connecting bodies 111 and 121 of the main body shaft 110 and the terminal operation part 120 as described above.
参照图10和图11，这种线材部131上向肘节部130的长度方向连续形成有使得所述操作缆线115通过的多个缆线孔137。在本实施例的附图中示出了俯视时形成有六个缆线孔137的结构（参照图12），但根据实施条件，也可以俯视时在三个突起部140的位置之间形成三个缆线孔137的配置，或者根据实施条件，可以形成更多个的不同结构。但是，缆线孔137的数量和间距设定根据所述突起部140的数量和配置间距进行适当设定，以便能够实施肘节部130的均匀弯曲动作，优选整体以统一间距或对称地配置。Referring to FIG. 10 and FIG. 11 , a plurality of cable holes 137 through which the operation cables 115 pass are continuously formed on the wire part 131 in the longitudinal direction of the toggle part 130 . The drawings of this embodiment show a structure in which six cable holes 137 are formed in plan view (see FIG. 12 ), but depending on implementation conditions, three projections 140 may be formed between the positions of three protrusions 140 in plan view. The configuration of a cable hole 137, or according to the implementation conditions, can form more different structures. However, the number and pitch of the cable holes 137 are appropriately set according to the number and arrangement pitch of the protrusions 140 so that the toggle portion 130 can bend uniformly, and are preferably arranged at uniform pitches or symmetrically as a whole.
其次，所述突起部140在构成螺旋部133和固定部135、136的线材之间向螺旋的节距方向突出形成，起到传递随着所述操作缆线115的动作（推或拉）而在操作缆线115所产生的弯曲动作力的同时，起到支承线材部131而防止被压缩的作用，从而使线材部131被弯曲变形之后能够保持其变形状态。因此，当末端操作部120（参照图8）对人体组织进行切开、切割、把持、烧灼等作业时，能够准确调节末端操作部的方向的同时，肘节部130被变形之后能够完整保持其变形状态的状态下，在使末端操作部120不晃动且确保可靠支承力的情况下进行手术作业。Next, the protruding portion 140 is formed to protrude in the pitch direction of the helix between the wires constituting the helical portion 133 and the fixing portions 135 and 136 , and plays a role in transmitting the movement (push or pull) of the operation cable 115 While operating the bending force generated by the cable 115, it functions to support the wire part 131 and prevent it from being compressed, so that the wire part 131 can maintain its deformed state after being bent and deformed. Therefore, when the terminal operation part 120 (refer to FIG. 8 ) performs operations such as incision, cutting, holding, and cautery on human tissue, the direction of the terminal operation part can be accurately adjusted, and at the same time, the elbow part 130 can completely maintain its shape after being deformed. In the state of the deformed state, the surgical operation can be performed without shaking the distal operating part 120 and ensuring a reliable supporting force.
此外，参照图8等，所述突起部140还起到自主体轴110经由肘节部130向末端操作部120传递旋转力时，使得相邻线材在旋转方向上彼此约束以传递扭矩的作用。即，若没有突起部140，主体轴110旋转时螺旋部133在中间扭结，从而难以将扭矩传递给末端操作部120，然而，突起部140在旋转方向上约束构成螺旋部133的线材，因此，还起到将主体轴110的旋转运动顺利传递给末端操作部120的作用。由此，进行手术作业时，所述肘节部130能够使器械弯曲自如的同时，旋转方向上的操作也像一体结构那样实施自如。In addition, referring to FIG. 8 etc., the protruding part 140 also serves to constrain adjacent wires in the rotational direction to transmit torque when the rotational force is transmitted from the main body shaft 110 to the distal operating part 120 via the toggle part 130 . That is, if there is no protrusion 140, the helical part 133 is kinked in the middle when the main body shaft 110 rotates, making it difficult to transmit the torque to the distal operation part 120. However, the protrusion 140 restrains the wire constituting the helical part 133 in the direction of rotation, It also plays the role of smoothly transmitting the rotational motion of the main body shaft 110 to the terminal operation part 120 . As a result, during surgery, the toggle portion 130 can freely bend the instrument, and at the same time can freely perform operations in the rotational direction like an integral structure.
优选这些突起部140沿着线材部131的螺旋每隔规定角度突出形成，优选沿着线材的圆周方向在180°～360°的角度内每隔规定角度都向一侧方向（向主体轴方向或末端操作部方向）突出形成。如图13所示，更优选可沿线材的圆周方向每隔240°角度突出形成。此时，突起部140在平面俯视结构中每隔120°角度均匀配置的状态下，起到防止线材部131被压缩的同时支承弯曲状态的作用。These protrusions 140 are preferably formed to protrude at predetermined angles along the helix of the wire portion 131, preferably to one side at every predetermined angle (in the direction of the main body axis or in the direction of the main body axis) within an angle of 180° to 360° along the circumferential direction of the wire. The direction of the terminal operation part) is protrudingly formed. As shown in FIG. 13 , it is more preferable to protrude at intervals of 240° along the circumferential direction of the wire. At this time, the protruding portions 140 function to support the bent state while preventing the wire portion 131 from being compressed while being uniformly arranged at intervals of 120° in a plan view structure.
下面说明突起部140的设置结构。Next, the arrangement structure of the protruding portion 140 will be described.
参照图14，优选突起部140被固定在线材一侧部分133U的状态下向螺旋节距方向被相邻线材的另一侧133L支承。即，突起部140的一侧末端附着或以一体成型方式等固定在线材的一侧部分133U，而另一侧末端离开相邻线材的另一侧部分133L的状态下接触而被支承。Referring to FIG. 14 , it is preferable that the protruding portion 140 is supported by the other side 133L of the adjacent wire in the helical pitch direction in a state where the one side portion 133U of the wire is fixed. That is, one end of the protrusion 140 is attached or integrally fixed to the one side portion 133U of the wire, and the other end is supported while being in contact with the other side portion 133L of the adjacent wire.
此时，优选相接触的突起部140的末端部140a和与该末端部接触的线材部分133a为了能够实现平缓接触以彼此相对应的结构形成（整合）。即，如图所示，突起部140的末端部140a可以以半球形结构突出形成，而与该突起部140接触的线材部分133a以半球形结构凹入形成。At this time, it is preferable that the end portion 140a of the protrusion portion 140 in contact and the wire portion 133a in contact with the end portion are formed (integrated) in a structure corresponding to each other in order to achieve smooth contact. That is, as shown in the drawing, the tip portion 140a of the protrusion 140 may be protrudingly formed in a hemispherical structure, and the wire portion 133a in contact with the protrusion 140 may be concavely formed in a hemispherical structure.
图14中用虚线所示的部分表示螺旋部133向一侧方向被压缩时螺旋部133和突起部140的变形和接触状态，在附图中为了便于理解比实际夸大示出。14 shows the deformation and contact state of the spiral portion 133 and the protrusion 140 when the spiral portion 133 is compressed to one side, and is shown exaggerated in the drawing for easy understanding.
图15至图17是表示如上所述的本发明涉及的肘节部130向不同方向弯曲状态的概略立体图，表示根据操作缆线115的推拉动作弯曲自如的状态。FIGS. 15 to 17 are schematic perspective views showing the states where the toggle portion 130 according to the present invention is bent in different directions as described above, and show the states where the toggle portion 130 can be freely bent according to the push-pull operation of the operation cable 115 .
作为参考，图15至图17是省略了操作缆线115而以肘节部130的移动状态为重点示出的示意图。For reference, FIGS. 15 to 17 are schematic diagrams showing the movement state of the toggle portion 130 while omitting the operation cable 115 .
另一方面，如图15中用虚线所示，也可以在肘节部130的外轮廓上如上前述的外套150避免肘节部130外露。On the other hand, as shown by dotted lines in FIG. 15 , it is also possible to prevent the toggle portion 130 from being exposed on the outer contour of the toggle portion 130 as described above with the jacket 150 .
图18至图19是表示本发明涉及的手术器械用弯曲装置的另一实施例的示意图，图18是肘节部130的主视图，图19是图18所示的肘节部动作状态的概略立体图。18 to 19 are schematic diagrams showing another embodiment of the bending device for surgical instruments according to the present invention, FIG. 18 is a front view of the elbow 130, and FIG. 19 is a schematic diagram of the operating state of the elbow shown in FIG. 18. stereogram.
在上述本发明的一实施例中例示出线材部131以圆形截面结构形成的情况，而在另一实施例中例示出线材部131具有矩形截面结构的情况。除此之外，其它部分结构可以与上述一实施例的结构相同类似，因此赋予了相同附图标记，省略重复说明。In one embodiment of the present invention described above, the case where the wire portion 131 is formed with a circular cross-sectional structure is exemplified, while the case where the wire portion 131 has a rectangular cross-sectional structure is exemplified in another embodiment. In addition, other parts of the structure may be the same as the structure of the above-mentioned embodiment, so the same reference numerals are given, and repeated descriptions are omitted.
与图13例示的突起部140的配置结构不同，图20示出了向螺旋方向以270°间隔依次配置突起部140的平面结构。即，突起部140在线材部131的圆周方向沿螺旋以270°间隔依次形成，因此俯视时，显示出以90°间隔在四处配置有突起部的结构。此时，优选缆线孔137在配置有突起部的四个空间之间各配置一个共四处。Unlike the arrangement structure of the protrusions 140 illustrated in FIG. 13 , FIG. 20 shows a planar structure in which the protrusions 140 are sequentially arranged at intervals of 270° in the helical direction. That is, the protrusions 140 are sequentially formed at 270° intervals along the helix in the circumferential direction of the wire portion 131 , so that the protrusions are arranged at four places at 90° intervals in plan view. In this case, it is preferable that the cable holes 137 are arranged at four locations, one for each of the four spaces where the protrusions are arranged.
另一方面，图21和图22是表示本发明的另一实施例的结构的示意图，表示在螺旋部133的以节距方向彼此相对的线材之间，在一侧线材上突出形成有所述突起部140，而在另一侧线材上突出形成有用于支承所述突起部140的支承部142的结构。优选所述突起部140和支承部142相接触的部分，如图22所示，突出曲面140a和凹入曲面142a彼此密接。On the other hand, FIG. 21 and FIG. 22 are schematic diagrams showing the structure of another embodiment of the present invention, showing that between the wires facing each other in the pitch direction of the spiral part 133, the wires on one side are protrudingly formed on the wires. The protruding portion 140 , and a support portion 142 for supporting the protruding portion 140 protrudes from the wire rod on the other side. Preferably, at the portion where the protruding portion 140 and the supporting portion 142 are in contact, as shown in FIG. 22 , the protruding curved surface 140a and the concave curved surface 142a are in close contact with each other.
突起部140和支承部142可以与线材成一体地成型制造，然而，也可以采用如图所示的用销子145、146固定组装在线材上的方法。The protruding portion 140 and the supporting portion 142 can be integrally molded and manufactured with the wire, however, a method of fixing and assembling the wire with pins 145 and 146 as shown in the figure can also be adopted.
在如上所述的本发明的不同实施例中，以突起部140固定在线材的某一侧而另一侧分离的结构为中心进行了说明，但根据实施条件，如图23所示，突起部140的两端部也可以均固定在位于两侧的螺旋部133的线材上。此外，如图24所示，突起部140的两端部也可以均与位于两侧的螺旋部133的线材分离。此时，优选在两侧线材上分别形成有凹槽结构的插入部134a、134b，供突起部的两端部141a、141b插入以防止突起部140脱离。In the different embodiments of the present invention as described above, the structure in which the protrusion 140 is fixed on one side of the wire rod and separated from the other side has been described as the center. However, depending on the implementation conditions, as shown in FIG. 23 , the protrusion 140 Both ends of 140 may also be fixed on the wires of the spiral portion 133 on both sides. In addition, as shown in FIG. 24 , both ends of the protruding portion 140 may be separated from the wires of the spiral portion 133 located on both sides. At this time, it is preferable to form groove-structured insertion portions 134a, 134b on the wires on both sides, respectively, for inserting the two ends 141a, 141b of the protrusion to prevent the protrusion 140 from coming off.
下面，在说明本发明的图26至图47的实施例时，在附图中相同类似结构部分赋予了相同附图标记，省略重复说明。Next, when describing the embodiments of the present invention shown in FIGS. 26 to 47 , the same reference numerals are given to the same and similar structural parts in the drawings, and repeated descriptions are omitted.
图26至图32是示出本发明的另一实施例的器械的立体图（图26）、主要部分分解立体图（图27）、操作缆线连接状态的概略图（图28）、镊子使用状态图（图29和图30）、剪刀使用状态图（图31和图32）。26 to 32 are a perspective view ( FIG. 26 ), an exploded perspective view of main parts ( FIG. 27 ), a schematic view ( FIG. 28 ) of a connected state of an operation cable, and a view showing a state in which tweezers are used according to another embodiment of the present invention. (Figure 29 and Figure 30), scissors use state diagram (Figure 31 and Figure 32).
在图26中附图标记21表示主体。Reference numeral 21 denotes a main body in FIG. 26 .
主体21是能够支承一对手术构件30和结合部40的部分，可以是从器械的驱动部延伸连接的轴（shaft）或者管（tube）部件。此外，主体21可以是组装在与所述轴或管部件连接的肘节体（wrist member）上的结构。The main body 21 is a part capable of supporting the pair of operative members 30 and the coupling part 40 , and may be a shaft or tube member extended and connected from the driving part of the instrument. In addition, the main body 21 may be a structure assembled on a wrist member connected with the shaft or pipe member.
优选主体21以中空的管状结构形成，以便能够使用来操作一对手术构件30的操作缆线C1、C2、C3、C4等驱动力传递构件通过主体21内部。The main body 21 is preferably formed in a hollow tubular structure so that driving force transmission members such as operation cables C1 , C2 , C3 , and C4 used to operate the pair of operative members 30 can pass through the interior of the main body 21 .
主体21可以构成为，两侧支承部23向前侧（向手术构件方向）突出的结构，以便能够旋转支承结合部40。两侧支承部23向前侧突出的结构是为了防止一对手术构件30向不同方向移动时发生干扰，这种支承部只要是不干扰一对手术构件30移动并能够支承结合部40的结构，其形状和结构可进行各种变形来实施。The main body 21 may have a structure in which the support parts 23 on both sides protrude to the front side (in the direction of the surgical member) so that the joint part 40 can be rotatably supported. The structure that both side support parts 23 protrude to the front side is in order to prevent a pair of operative members 30 from interfering when they move in different directions. Its shape and structure can be implemented with various modifications.
主体21也是只要能够支承一对手术构件30和结合部40的结构，可根据器械结构进行适当变形。The main body 21 can also be appropriately deformed according to the structure of the instrument as long as it can support the pair of operative members 30 and the coupling portion 40 .
如上所述，在主体21的末端（或前侧）具备与人体接触而进行手术作业的一对手术构件30，在该一对手术构件30和主体21之间具备使一对手术构件30具有多种协同方向从而实现各种手术作业的结合部40。此外，具备用于操作一对手术构件30而分别连接于一对手术构件30和结合部40的操作缆线C1、C2、C3、C4。As mentioned above, a pair of operative members 30 are provided at the end (or front side) of the main body 21 to be in contact with the human body and perform surgical operations, and between the pair of operative members 30 and the main body 21 is provided a pair of operative members 30 with multiple A joint part 40 that realizes various surgical operations in a coordinated direction. In addition, operation cables C1 , C2 , C3 , and C4 connected to the pair of operation members 30 and the coupling portion 40 for operating the pair of operation members 30 are provided.
详细说明这些各结构部分如下。A detailed description of each of these structural parts is as follows.
首先，一对手术构件30分别以长条形结构形成，末端部彼此密接或接触，从而能够执行特定手术功能。First, a pair of operative members 30 are respectively formed in an elongated structure, and the end portions are in close contact with or in contact with each other, so as to be able to perform a specific operative function.
在附图中例示的一对手术构件30，例示出了能够执行镊子功能和剪刀功能的结构，参照图27，在第一手术构件31和第二手术构件32中彼此相对的‘A’面，通过彼此接触来执行镊子功能，而在侧面彼此相对的‘B’面，通过彼此接触来执行剪刀功能。A pair of operative members 30 illustrated in the accompanying drawings illustrate a structure capable of performing the functions of forceps and scissors. Referring to FIG. The tweezers function is performed by contacting each other, while the 'B' faces, which are flanked opposite each other, perform the scissors function by contacting each other.
即，一对手术构件30构成为，第一手术构件31和第二手术构件32以所述结合部40为中心向第一协同方向（在图26中D、U方向）移动时，可以执行镊子功能，而第一手术构件31和第二手术构件32向第二协同方向（在图26中R、L方向）移动时，可以执行剪刀功能。That is, the pair of operative members 30 is configured such that when the first operative member 31 and the second operative member 32 move toward the first cooperative direction (direction D, U in FIG. 26 ) around the joint 40, the forceps can be executed. function, and when the first operative member 31 and the second operative member 32 move to the second coordinated direction (the R and L directions in FIG. 26 ), they can perform the scissors function.
该一对手术构件30根据实现手术作业的特有功能，可以将形状和相互接触结构变更为多种形式。在附图中例示出从各手术构件的中间部分开始越向末端部越向彼此相对的方向弯曲的结构，以使一对手术构件30顺利接触。The pair of operative members 30 can be changed into various forms in terms of shape and mutual contact structure according to the specific function to realize the surgical work. In the drawing, a configuration is illustrated in which each operative member is bent in a direction facing each other toward the end portion from the middle portion of each operative member so that the pair of operative members 30 can smoothly contact each other.
其次，说明连接一对手术构件30使其可以向多个协同方向移动而实施手术作业的结合部40。Next, the connection part 40 which connects a pair of operation member 30 so that it can move in several coordinated directions and performs operation is demonstrated.
主要参照图27，结合部40可以包括：一对旋转体41、42，以被主体21支承的第一轴X为中心可相对旋转地连接；一对第二轴Y1、Y2，可相对旋转地连接各旋转体41、42和各手术构件31、32。Mainly referring to FIG. 27 , the joint part 40 may include: a pair of rotating bodies 41, 42, which are relatively rotatably connected around the first axis X supported by the main body 21; a pair of second shafts Y1, Y2, which are relatively rotatably connected. Each rotating body 41, 42 and each operation member 31, 32 are connected.
如图所示，一对旋转体41、42以第一轴X为中心并排配置状态下能够彼此相对旋转，而设置有与各手术构件31、32连接的第二轴Y1、Y2的部分，为了能够顺利构成第二轴，具有相对宽的面积。As shown in the figure, a pair of rotators 41, 42 can rotate relative to each other in a side-by-side arrangement centered on the first axis X, and a part of the second axis Y1, Y2 connected to each operative member 31, 32 is provided. The second axis can be smoothly formed and has a relatively wide area.
这样的一对旋转体41、42，如上所述的可以在主体21的两侧支承部23之间相对旋转，而第一轴X被两侧支承部23支承，从而能够支承一对旋转体41、42可相对旋转。Such a pair of rotating bodies 41 and 42 can relatively rotate between the both side supporting parts 23 of the main body 21 as described above, and the first axis X is supported by the both side supporting parts 23, so that the pair of rotating bodies 41 can be supported. , 42 can be relatively rotated.
第一轴X并不仅限于由单轴结构构成，也可以是被固定在两侧支承部23的状态下能够使一对旋转体41、42旋转地进行支承的结构，也可以是从各旋转体41、42突出而可旋转地被两侧支承部23支承的结构。The first axis X is not limited to a single-shaft structure, and may be a structure that can rotate the pair of rotating bodies 41 and 42 while being fixed to the support parts 23 on both sides. 41 and 42 protrude and are rotatably supported by the support portions 23 on both sides.
一对手术构件30分别通过第二轴Y1、Y2可旋转地组装在一对旋转体41、42上，但第二轴Y1、Y2也是只要能够使各手术构件31、32相对于各旋转体41、42旋转的结构，固定在哪一侧也无妨，而且，也可以是未固定而以单轴结构插入构成的结构。A pair of operative members 30 are rotatably assembled on a pair of rotating bodies 41, 42 via second axes Y1, Y2, respectively, but the second axes Y1, Y2 also need to make each operative member 31, 32 relative to each rotating body 41 , 42 rotation structure, it doesn't matter which side it is fixed on, and a structure that is not fixed but inserted in a uniaxial structure may also be used.
另一方面，在附图中示出了第一轴X和一对第二轴Y1、Y2以彼此正交的方向配置的结构，这是第一轴X和一对第二轴Y1、Y2整体以十字形结构配置从而整个结构紧凑且顺利进行动作的结构。然而并不限定于此，一对第二轴Y1、Y2也可以配置在不同轴线上，而不必位于同一轴线上。On the other hand, the drawings show a structure in which the first axis X and the pair of second axes Y1, Y2 are arranged in directions perpendicular to each other, which is the overall structure of the first axis X and the pair of second axes Y1, Y2. Arranged in a cross-shaped structure, the entire structure is compact and moves smoothly. However, it is not limited thereto, and the pair of second shafts Y1 and Y2 may be arranged on different axes, not necessarily on the same axis.
其次，说明用于操作如上所述构成的一对手术构件30和结合部40的驱动力传递构件。Next, a driving force transmission member for operating the pair of operative member 30 and coupling portion 40 configured as described above will be described.
驱动力传递构件只要是能够使手术构件30和结合部40旋转的连接部件，可以利用钢丝、缆线、条形杆等已知的操作连接构件来构成。As long as the driving force transmission member is a connection member capable of rotating the operative member 30 and the coupling portion 40 , known operation connection members such as wires, cables, and rods can be used.
在附图中例示的另一实施例中，表示利用缆线的结构。In another embodiment illustrated in the drawings, a structure using a cable is shown.
参照图27和图28，驱动力传递构件构成为如下，在各手术构件31、32和各旋转体41、42上分别具备缆线连接件31a、32a、41a、42a，而在该缆线连接件31a、32a、41a、42a上分别连接有操作缆线C1、C2、C3、C4。Referring to Fig. 27 and Fig. 28, the driving force transmission member is constituted as follows, each operative member 31, 32 and each rotating body 41, 42 are provided with cable connectors 31a, 32a, 41a, 42a respectively, and the cables connected Operation cables C1, C2, C3, and C4 are respectively connected to the pieces 31a, 32a, 41a, and 42a.
此时，各缆线连接件31a、32a、41a、42a不能相对旋转地被固定在各手术构件31、32和各旋转体41、42，优选设置位置分别位于第一轴X线上和第二轴Y1、Y2线上。At this time, each cable connector 31a, 32a, 41a, 42a is fixed on each operative member 31, 32 and each rotating body 41, 42 in a non-rotatable manner, and the preferred setting positions are respectively located on the first axis X line and the second axis X line. Axis Y1, Y2 on the line.
缆线连接件31a、32a、41a、42a的固定结构可以以与各手术构件31、32或各旋转体41、42形成单一结构或单独制作之后组装固定的方式构成。The fixing structure of the cable connectors 31a, 32a, 41a, 42a can be formed in a single structure with each operative component 31, 32 or each rotating body 41, 42 or assembled and fixed after being manufactured separately.
各操作缆线C1、C2、C3、C4可以通过前面描述的主体21内部并经由各缆线连接件31a、32a、41a、42a，根据推拉缆线的动作而通过各缆线连接件31a、32a、41a、42a使各手术构件31、32或各旋转体41、42旋转。Each operation cable C1, C2, C3, C4 can pass through the interior of the main body 21 described above and through each cable connection piece 31a, 32a, 41a, 42a, according to the action of pushing and pulling the cable through each cable connection piece 31a, 32a , 41a, 42a rotate each operative member 31, 32 or each rotating body 41, 42.
附图中，附图标记35表示用于按压操作缆线C3、C4的惰辊，惰辊35是一对手术构件31、32被开放时也能够使操作缆线C3、C4稳定连接在缆线连接件41a、42a上的状态下进行操作的辅助机构。In the accompanying drawings, reference numeral 35 denotes an idler roller for pressing the operation cables C3, C4. The idler roller 35 is a pair of operation members 31, 32 that can also make the operation cables C3, C4 stably connected to the cable. Auxiliary mechanism that operates in the state of connecting pieces 41a, 42a.
惰辊35不仅可以构成为按压操作缆线C3、C4的结构，也可以构成为在各操作缆线的下侧（以缆线为中心朝向手术构件侧）支持的结构。此时，即使一对手术构件31、32向任一方向移动，操作缆线C3、C4经过上下设置的一对惰辊35并与缆线连接件41a、42a连接，从而能够以更稳定的连接状态传递操作力。The idler roller 35 may not only be configured to press the operation cables C3 and C4 , but may also be configured to support the lower side of each operation cable (toward the surgical member side with the cables at the center). At this time, even if the pair of operating members 31, 32 moves in any direction, the operation cables C3, C4 pass through the pair of idler rollers 35 arranged up and down and are connected to the cable connectors 41a, 42a, thereby enabling a more stable connection. State conveys operational force.
此外，也可以形成具有孔结构的引导机构来取代惰辊35。即，可以使操作缆线C3、C4经过圆环结构或管状引导装置，以使操作缆线C3、C4稳定连接在缆线连接件41a、42a上的状态下传递操作力。此时，引导机构可以设置在与设置有所述惰辊35的位置相同的位置。In addition, instead of the idle roller 35, a guide mechanism having a hole structure may also be formed. That is, the operation cables C3, C4 can be passed through the ring structure or the tubular guide, so that the operation force can be transmitted while the operation cables C3, C4 are stably connected to the cable connectors 41a, 42a. At this time, the guide mechanism may be provided at the same position as the position where the idle roller 35 is provided.
操作如上所述的各操作缆线C1、C2、C3、C4的结构，通过本申请人的发明专利以及在先技术已周知，故省略对其的详细说明。The structure for operating the operation cables C1, C2, C3, and C4 as described above is well known from the applicant's invention patent and prior art, and thus detailed description thereof will be omitted.
参照图29至图32说明如上所述的本发明的另一实施例的器械的使用状态。The state of use of the device according to another embodiment of the present invention as described above will be described with reference to FIGS. 29 to 32 .
图29和图30是作为镊子时的状态图，通过操作第一缆线C1和第二缆线C2，使得一对旋转体41、42以第一轴X为中心旋转，从而如图29所示使一对手术构件30分开，或如图30所示使一对手术构件30接触而作为镊子利用。Fig. 29 and Fig. 30 are state diagrams when they are used as tweezers. By operating the first cable C1 and the second cable C2, a pair of rotating bodies 41, 42 are rotated around the first axis X, as shown in Fig. 29 The pair of operative members 30 are separated, or as shown in FIG. 30 , the pair of operative members 30 are brought into contact and used as tweezers.
图31和图32是作为剪刀时的状态图，通过操作第三缆线C3和第四缆线C4，使得一对手术构件30分别以第二轴Y1、Y2为中心旋转，从而如图31所示使一对手术构件30分开，或如图32所示使一对手术构件30彼此重叠而作为剪刀利用。Fig. 31 and Fig. 32 are state diagrams when they are used as scissors. By operating the third cable C3 and the fourth cable C4, a pair of operative members 30 are rotated around the second axis Y1, Y2 respectively, thus as shown in Fig. 31 A pair of operative members 30 are separated, or a pair of operative members 30 are overlapped and used as scissors as shown in FIG. 32 .
〈另一实施例〉<another embodiment>
图33a至图35是示出本发明的另一实施例的器械的侧视图（图33a、图33b）、俯视图（图34a、图34b）、后视图（图35）。Figures 33a to 35 are side views (Figures 33a, 33b), top views (Figures 34a, 34b), rear views (Figure 35) illustrating an instrument according to another embodiment of the present invention.
本发明的另一实施例，除了驱动力传递构件的结构之外，其余的结构部分与前面描述的另一实施例（图26至图32）的结构相同。In another embodiment of the present invention, except for the structure of the driving force transmission member, the rest of the structure is the same as that of the other embodiment ( FIGS. 26 to 32 ) described above.
与驱动力传递构件由操作缆线C1、C2、C3、C4构成的上述另一实施例（图26至图32）不同，另一实施例的驱动力传递构件由铰接式结构连接的杆51、51′、52、52′构成。此时，优选杆51、51′、52、52′由具有能够传递直线移动操作力的粗细度和强度的条形构成。Different from the above-mentioned another embodiment ( FIGS. 26 to 32 ) in which the driving force transmission member is composed of operating cables C1 , C2 , C3 , and C4 , the driving force transmission member of another embodiment is composed of rods 51 , 51', 52, 52' constitute. At this time, it is preferable that the rods 51, 51', 52, 52' are formed in a bar shape having thickness and strength capable of transmitting linear movement operation force.
在附图中例示的杆51、51′、52、52′由被连接在一对旋转体41、42上的第一杆51、51′和被连接在一对手术构件31、32上的第二杆52、52′构成。The rods 51, 51', 52, 52' illustrated in the drawings consist of a first rod 51, 51' connected to a pair of rotating bodies 41, 42 and a second rod connected to a pair of operating members 31, 32. Two rods 52, 52' constitute.
第一杆是从主杆51分支的两个支杆51′分别连接在一对旋转体41、42上（参照图33a），同样，第二杆也是从主杆52分支的两个支杆52′分别连接在一对手术构件31、32上（参照图34a）。The first rod is two struts 51' branched from the main rod 51 respectively connected to a pair of rotating bodies 41, 42 (refer to Fig. 33a), similarly, the second rod is also two struts 52 branched from the main rod 52 ' are respectively connected to a pair of operative members 31, 32 (refer to Figure 34a).
此时，优选各自的主杆51、52和支杆51′、52′以能够相对旋转的铰链接头51c、52c方式连接，支杆51′、52′和各旋转体41、42及手术构件31、32以能够旋转自如的球形接头51a、51b、52a、52b方式连接。与旋转体41、42连接的接头部分也可以以铰链接头取代球形接头51a、51b连接。At this time, it is preferable that the respective main rods 51, 52 and struts 51', 52' are connected by relative rotatable hinge joints 51c, 52c. , 32 are connected by rotatable ball joints 51a, 51b, 52a, 52b. The joint parts connected to the rotary bodies 41, 42 may also be connected by hinge joints instead of ball joints 51a, 51b.
而且，第一杆的支杆51′以球形接头51a、51b连接于各旋转体41、42的位置为，以第一轴X为中心在上下（以图为基准）相距规定距离的位置，第二杆的支杆52′以球形接头52a、52b连接于手术构件31、32的位置，以第二轴Y1、Y2为中心在左右相距规定距离的位置（参照图35）。Furthermore, the position where the first lever rod 51' is connected to the respective rotating bodies 41, 42 by means of the ball joints 51a, 51b is at a predetermined distance above and below the first axis X (based on the drawing). The two-rod struts 52' are connected to the surgical members 31, 32 by the ball joints 52a, 52b at predetermined distances left and right from the second axes Y1, Y2 (see FIG. 35 ).
图35是表示球形接头51a、51b、52a、52b的设置位置的后视图，一对手术构件30可以构成向彼此相反方向突出的延伸部以分别连接支杆52′，从而能够通过第二杆52、52′提供足够的扭矩。35 is a rear view showing the installation positions of ball joints 51a, 51b, 52a, and 52b. A pair of surgical members 30 may form extensions protruding in opposite directions to connect struts 52' respectively, so that the second rod 52 , 52' provides sufficient torque.
通过如此连接的各杆51、51′、52、52′的推拉动作，使一对旋转体41、42相对旋转的同时，使一对手术构件31、32相对旋转。By pushing and pulling the rods 51 , 51 ′, 52 , 52 ′ connected in this way, the pair of rotators 41 , 42 are relatively rotated, and at the same time, the pair of operative members 31 , 32 are relatively rotated.
即，如图33a所示，拽拉第一杆51、51′，则一对旋转体41、42以第一轴X为中心向使一对手术构件30分开的方向旋转，如图33b所示，推动第一杆51、51′，则一对旋转体41、42以第一轴X为中心向使一对手术构件30合拢的方向旋转。That is, as shown in FIG. 33a, when the first lever 51, 51' is pulled, the pair of rotators 41, 42 rotate around the first axis X in a direction to separate the pair of operative members 30, as shown in FIG. 33b When the first rods 51, 51' are pushed, the pair of rotators 41, 42 rotate around the first axis X in a direction in which the pair of operative members 30 are closed.
此外，如图34a所示，拽拉第二杆52、52′，则一对手术构件31、32以第二轴Y1、Y2为中心向分开的方向旋转，如图34b所示，当推动第二杆52、52′时，一对手术构件31、32以第二轴Y1、Y2为中心向合拢的方向旋转。In addition, as shown in Figure 34a, when the second rod 52, 52' is pulled, the pair of operative members 31, 32 will rotate in the direction of separation centered on the second axis Y1, Y2, as shown in Figure 34b, when the second rod is pushed When two levers 52, 52' are used, the pair of operating members 31, 32 rotates in the closing direction around the second axis Y1, Y2.
上面以从一个杆分支连接的结构进行了说明，但与此不同，也可以构成分别连接在各旋转体41、42和各手术构件31、32上的四个杆。In the above, the structure branched and connected from one rod has been described, but unlike this, four rods connected to the rotating bodies 41, 42 and the operating members 31, 32, respectively, may be configured.
此外，由杆构成时，与杆和各旋转体41、42及各手术构件31、32连接的部分，如前面所述也可以以能够相对旋转的铰接结构连接，但并不限定于此，也可以在各旋转体41、42和各手术构件31、32上形成齿轮结构（小齿轮），该齿轮与杆的齿轮结构（齿条）结合，从而能够旋转驱动各旋转体41、42和各手术构件31、32。In addition, when it is composed of a rod, the parts connected to the rod, the rotating bodies 41, 42 and the operating members 31, 32 may also be connected by a hinge structure capable of relative rotation as described above, but it is not limited to this, and it is also possible to A gear structure (pinion) can be formed on each rotating body 41, 42 and each surgical component 31, 32, and the gear is combined with the gear structure (rack) of the rod, so that each rotating body 41, 42 and each surgical member can be rotationally driven. Members 31, 32.
另一方面，在本发明的另一实施例中，说明了驱动力传递构件由杆构成的实施例，但也可以由具有足够刚性的钢丝构成。On the other hand, in another embodiment of the present invention, an embodiment in which the driving force transmission member is constituted by a rod has been described, but it may also be constituted by a steel wire having sufficient rigidity.
〈另一实施例〉<another embodiment>
图36a至图38是示出本发明的另一实施例的器械的侧视图（图36a、图36b）、俯视图（图37a、图37b）、后视图（图38）。Figures 36a to 38 are side views (Figures 36a, 36b), top views (Figures 37a, 37b), and rear views (Figure 38) illustrating an instrument according to another embodiment of the present invention.
本发明的另一实施例与前面描述的实施例（图33a至图35）的结构类似，其为主杆51、52在同轴上一同形成的实施例。此外，本发明的另一实施例与实施例（图33a至图35）的结构不同之处在于，推动杆时一对手术构件31、32分开，而拽拉杆时合拢。Another embodiment of the present invention is similar in structure to the previously described embodiments ( FIGS. 33 a to 35 ), which is an embodiment in which the main rods 51 , 52 are coaxially formed together. In addition, another embodiment of the present invention differs from the structure of the embodiment (Fig. 33a to Fig. 35) in that the pair of operative members 31, 32 are separated when the rod is pushed, and closed when the rod is pulled.
首先，说明主杆51、52配置在一轴线上的结构。First, the structure in which the main rods 51 and 52 are arranged on one axis will be described.
对被连接在一对旋转体41、42上的第一杆而言，主杆51可以与实施例（图33a至图35）相同或类似，而对被连接在一对手术构件31、32上的第二杆而言，主杆52形成管状结构。The main rod 51 may be the same or similar to the embodiment (Figs. As far as the second rod is concerned, the main rod 52 forms a tubular structure.
即，以棒状结构形成的第一杆的主杆51可以插入以管状结构形成的第二杆的主杆52内的状态下进行直线移动，从而使一对旋转体41、42运动。而且，具有管状结构的第二杆的主杆52也可以进行直线移动而使一对手术构件31、32运动。That is, the main rod 51 of the first rod formed in a rod-like structure can move linearly while being inserted into the main rod 52 of the second rod formed in a tubular structure, thereby moving the pair of rotating bodies 41 and 42 . Furthermore, the main rod 52 having the second rod having a tubular structure can also move linearly to move the pair of operative members 31 , 32 .
与实施例（图33a至图35）同样，各主杆51、52和支杆51′、52′以铰链接头51c、52c方式连接从而能够相对旋转，支杆51′、52′和各旋转体41、42及手术构件31、32能够旋转自如的以球形接头51a、51b、52a、52b方式连接。Same as the embodiment (Fig. 33a to Fig. 35), each main pole 51, 52 and struts 51', 52' are connected by hinge joints 51c, 52c so as to be able to rotate relatively, struts 51', 52' and each rotating body 41, 42 and operative components 31, 32 are rotatably connected by ball joints 51a, 51b, 52a, 52b.
各球形接头51a、51b、52a、52b的连接位置可以以如图38所示配置。The connection positions of the respective ball joints 51a, 51b, 52a, 52b can be arranged as shown in FIG. 38 .
连接于各旋转体41、42的球形接头51a、51b可以配置在各旋转体的侧面。此时也可以利用铰链接头取代球形接头51a、51b与旋转体41、42连接。The ball joints 51a, 51b connected to the respective rotating bodies 41, 42 may be disposed on the side surfaces of the respective rotating bodies. In this case, hinged joints may also be used instead of the ball joints 51a, 51b to connect to the rotating bodies 41, 42.
被连接在手术构件31、32上的球形接头52a、52b，可以设置在从各手术构件31、32延伸至第一轴X的延伸部45上。在图38中示出了球形接头52a、52b位于第一轴X线上的构成的实施例。Ball joints 52 a , 52 b connected to the operative members 31 , 32 may be provided on extensions 45 extending from the respective operative members 31 , 32 to the first axis X. As shown in FIG. FIG. 38 shows an example of an embodiment in which the ball joints 52a, 52b lie on the first axis X-line.
另一方面，本发明的另一实施例中的各球形接头51a、51b、52a、52b的设置位置位于以第一轴X或第二轴Y1、Y2为中心与实施例（图33a至图35）的设置位置相反侧。这一点可以通过比较图35和图38可知。On the other hand, in another embodiment of the present invention, the installation positions of the ball joints 51a, 51b, 52a, 52b are located on the first axis X or the second axis Y1, Y2 as the center and the embodiment (Fig. 33a to Fig. 35 ) on the opposite side of the setting position. This point can be seen by comparing Fig. 35 and Fig. 38 .
这样，各球形接头51a、51b、52a、52b的设置位置被设置为与实施例（图33a至图35）相反的情况，推动或拽拉杆时，进行与实施例（图33a至图35）相反的动作。In this way, the installation positions of the ball joints 51a, 51b, 52a, 52b are set to be opposite to those of the embodiment (Fig. 33a to Fig. 35). Actions.
即，如图36a所示，推动第一杆51、51′，则一对旋转体41、42以第一轴X为中心向使一对手术构件30分开的方向旋转，如图36b所示，拽拉第一杆51、51′时，一对旋转体41、42以第一轴X为中心向使一对手术构件30合拢的方向旋转。That is, as shown in FIG. 36a, when the first rods 51, 51' are pushed, the pair of rotators 41, 42 rotate around the first axis X in a direction in which the pair of operative members 30 are separated. As shown in FIG. 36b, When the first rods 51, 51' are pulled, the pair of rotating bodies 41, 42 rotates about the first axis X in a direction in which the pair of operating members 30 are brought together.
此外，如图37a所示，推动具有管状结构的第二杆52、52′，则一对手术构件31、32以第二轴Y1、Y2为中心向分开方向旋转，如图37b所示，拽拉第二杆52、52′，则一对手术构件31、32以第二轴Y1、Y2为中心向彼此合拢的方向旋转。In addition, as shown in FIG. 37a, when the second rod 52, 52' having a tubular structure is pushed, the pair of operative members 31, 32 will rotate in the direction of separation centered on the second axis Y1, Y2. As shown in FIG. 37b, pulling When the second lever 52, 52' is pulled, the pair of operative members 31, 32 rotate around the second axis Y1, Y2 in a direction to close each other.
另一方面，在前面描述了第一杆的主杆51以棒状结构形成而第二杆的主杆52以管状结构形成的结构，然而，与此相反，也可以是第一杆的主杆51以管状结构形成而第二杆的主杆52以棒状结构形成从而插入到第一杆的主杆51内。On the other hand, the structure in which the main rod 51 of the first rod is formed in a rod-like structure and the main rod 52 of the second rod is formed in a tubular structure has been described above, however, contrary to this, the main rod 51 of the first rod may also be The main rod 52 of the second rod is formed in a tubular structure and formed in a rod-like structure so as to be inserted into the main rod 51 of the first rod.
此外，两个主杆51、52也可以均以管状结构形成，从而以双管结构配置在同轴上。通过这种方式也可以将三个以上的主杆以三重以上的管结构配置在同轴上，此时，最里侧的主杆也可以以单一的杆或钢丝形式构成。In addition, the two main rods 51, 52 may also be formed in a tubular structure, so as to be coaxially arranged in a double-tube structure. In this way, three or more main rods can also be coaxially arranged in a triple or more tube structure. At this time, the innermost main rod can also be formed in the form of a single rod or steel wire.
此外，被插入到管状结构构成的主杆内的杆，并不限定于硬质（不易弯曲的材料）的杆状结构，也可以由软质（相对容易弯曲的材料）的钢丝构成。In addition, the rod inserted into the main rod made of a tubular structure is not limited to a hard (hardly bendable material) rod-like structure, and may be made of a soft (relatively bendable material) steel wire.
此外，以管状结构构成的主杆内也可以插入多个具有杆状或钢丝结构的杆，并通过管状结构的主杆和被插入在其内的多个杆传递操作力。In addition, a plurality of rods having a rod shape or a steel wire structure may be inserted into the main rod formed of a tubular structure, and the operating force is transmitted through the main rod of the tubular structure and the plurality of rods inserted therein.
除此之外的构成部分可以与上述实施例的结构相同或类似，故省略说明。Other components may be the same as or similar to those of the above-mentioned embodiments, so descriptions thereof are omitted.
〈另一实施例〉<another embodiment>
在本发明的另一实施例中，一对手术构件30分为:不动的固定手术构件32′和以该固定手术构件32′为中心向多个方向运动的可动手术构件31′。In another embodiment of the present invention, a pair of operative members 30 is divided into: a stationary fixed operative member 32 ′ and a movable operative member 31 ′ that moves in multiple directions around the fixed operative member 32 ′.
即，如图39所示，在下侧具备固定手术构件32′，该固定手术构件32′固定在主体21上，在上侧具备可动手术构件31′，该可动手术构件31′以固定手术构件32′为中心且以第一轴X或第二轴Y1为中心旋转。That is, as shown in FIG. 39 , a fixed operative member 32 ′ is provided on the lower side, and the fixed operative member 32 ′ is fixed on the main body 21 , and a movable operative member 31 ′ is provided on the upper side, and the movable operative member 31 ′ is used to fix the operative member. The member 32' is centered and rotates about the first axis X or the second axis Y1.
此时，结合部40由用于连接固定手术构件32′与主体21的固定连接部33和用于连接可动手术构件31′与固定手术构件32′或主体21的可动连接部41、Y1构成。At this time, the joint part 40 is composed of the fixed connecting part 33 for connecting the fixed operative member 32 ′ and the main body 21 and the movable connecting part 41, Y1 for connecting the movable operative member 31 ′ and the fixed operative member 32 ′ or the main body 21. constitute.
固定连接部33是主体21和固定手术构件32′一体连接的结构或彼此固定地组装的结构部分。The fixed connection part 33 is a structure in which the main body 21 and the fixed operative member 32' are integrally connected or structural parts fixedly assembled with each other.
可动连接部由以第一轴X为中心旋转的旋转体41和使得可动手术构件31′相对于该旋转体41旋转的第二轴Y1构成。The movable link is composed of a rotating body 41 that rotates around the first axis X and a second axis Y1 that rotates the movable surgical member 31 ′ relative to the rotating body 41 .
在此，如图所示，所述第一轴X可以被主体21的支承部23支承，也可以被固定手术构件32′支承。Here, as shown in the figure, the first axis X may be supported by the support portion 23 of the main body 21, or may be supported by the fixed operation member 32'.
除此之外的结构与上述实施例（图26至图32）的结构相同，故省略说明。只是，由缆线C1、C3、钢丝、杆等构成的驱动力传递构件并不与固定手术构件32′连接，而仅与旋转体41和可动手术构件31′连接。The other configurations are the same as those of the above-mentioned embodiment (FIG. 26 to FIG. 32), so descriptions are omitted. However, the driving force transmission member composed of cables C1, C3, steel wires, rods, etc. is not connected to the fixed operation member 32', but is only connected to the rotating body 41 and the movable operation member 31'.
如上所述的本发明的另一实施例，基本结构与实施例（图26至图32）类似构成时，通过操作第一缆线C1使得旋转体41以第一轴X为中心旋转，则可动手术构件31′上下运动从而与固定手术构件32′一起实现镊子功能，通过操作第三缆线C3使得可动手术构件31′以第二轴Y1为中心旋转，则可动手术构件31′左右运动从而与固定手术构件32′一起实现剪刀功能。In another embodiment of the present invention as described above, when the basic structure is similar to that of the embodiment (Fig. 26 to Fig. 32), by operating the first cable C1 to make the rotating body 41 rotate around the first axis X, it can The movable surgical member 31' moves up and down to realize the function of tweezers together with the fixed surgical member 32'. By operating the third cable C3, the movable surgical member 31' rotates around the second axis Y1, and the movable surgical member 31' moves left and right. Movement to perform the scissor function together with the stationary operative member 32'.
另一方面，虽然附图中未示出，所述可动连接部也可以不利用旋转体41、第一轴X、第二轴Y1等，而利用下面实施例中描述的球形接头连接结构（另一实施例）或自由弯曲接头连接结构（第六实施例）来使可动手术构件31′向多个方向运动。On the other hand, although not shown in the drawings, the movable connection part may not use the rotating body 41, the first axis X, the second axis Y1, etc., but use the ball joint connection structure described in the following embodiments ( Another embodiment) or freely bend the joint connection structure (sixth embodiment) to make the movable operative member 31' move in multiple directions.
〈另一实施例〉<another embodiment>
下面说明的本发明的另一实施例与上述实施例相比结合部40的结构不同。对此依次说明。Another embodiment of the present invention described below differs in the structure of the coupling portion 40 from the above-described embodiment. This will be described in turn.
图40和图41是用于表示镊子动作状态的侧视图，图42和图43是用于表示剪刀动作状态的俯视图。Fig. 40 and Fig. 41 are side views for showing the action state of the tweezers, and Fig. 42 and Fig. 43 are plan views for showing the action state of the scissors.
本发明的另一实施例是，用于连接主体21和一对手术构件30的结合部40由一对球形接头61、62构成。Another embodiment of the present invention is that the coupling portion 40 for connecting the main body 21 and the pair of operative members 30 is constituted by a pair of ball joints 61 , 62 .
即，主体21和各手术构件31、32分别通过球形接头61、62连接，并利用操作缆线C1、C2、C3、C4使一对手术构件30旋转，从而能够实现镊子（图40和图41）或剪刀（图42和图43）功能。That is, the main body 21 and each operative member 31, 32 are respectively connected by ball joints 61, 62, and a pair of operative members 30 are rotated by operating cables C1, C2, C3, C4, so that the tweezers (Fig. 40 and Fig. 41 ) can be realized. ) or scissors (Figure 42 and Figure 43) functions.
球形接头61、62为通常公知技术，被连接在球上的各手术构件31、32以固定于主体21的球壳为中心旋转自如。The ball joints 61 , 62 are conventionally known technology, and the respective surgical members 31 , 32 connected to the ball are rotatable around the spherical shell fixed to the main body 21 .
附图中的附图标记65表示用于引导各操作缆线C1、C2、C3、C4移动的缆线导向器。Reference numeral 65 in the drawings denotes a cable guide for guiding movement of the respective operation cables C1 , C2 , C3 , C4 .
另一方面，如实施例（图39）中所描述，也可以将一对手术构件30中的一个作为固定手术构件直接固定在主体21上，而不形成球形接头，另一手术构件、即可动手术构件通过球形接头连接，并与固定手术构件协同来实现各种功能。On the other hand, as described in the embodiment (Fig. 39), one of the pair of operative members 30 can also be directly fixed on the main body 21 as a fixed operative member without forming a ball joint, and the other operative member, namely The movable components are connected by ball joints and cooperate with the fixed surgical components to realize various functions.
图44和图45是用于表示镊子动作状态的侧视图，图46和图47是用于表示剪刀动作状态的俯视图。Fig. 44 and Fig. 45 are side views for showing the action state of the tweezers, and Fig. 46 and Fig. 47 are plan views for showing the action state of the scissors.
本发明的另一实施例是，用于连接主体21和一对手术构件30的结合部40由一对自由弯曲接头71、72构成。Another embodiment of the present invention is that the joint part 40 for connecting the main body 21 and the pair of operative members 30 is formed by a pair of freely bending joints 71 , 72 .
即，主体21和各手术构件31、32分别通过自由弯曲接头71、72连接，使一对手术构件30向第一协同方向旋转时能够作为镊子（图40和图41）或者向第二协同方向旋转时能够作为剪刀（图42和图43）等使用。That is, the main body 21 and each operative member 31, 32 are respectively connected by freely bending joints 71, 72, so that the pair of operative members 30 can be used as tweezers (Fig. When rotated, it can be used as scissors (Figure 42 and Figure 43), etc.
自由弯曲接头71、72可以利用使用多个环耦合结构、线圈型钢丝、伸缩管等来使末端部件（手术构件）向不同方向操作的公知的肘节（wrist）结构构成，已被美国专利号US07618066、US06053907、US07547311、US07323700、美国专利公开号US2310/0087711、US2310/0190735等公开，故省略对其的附图例示和详细说明。The free bending joints 71, 72 can be formed by using a plurality of ring coupling structures, coil type steel wires, telescopic tubes, etc. to make the end parts (operative components) operate in different directions. US07618066, US06053907, US07547311, US07323700, US Patent Publication Nos. US2310/0087711, US2310/0190735 and other publications, so illustrations and detailed descriptions thereof are omitted.
此外，驱动力传递构件也是由贯穿自由弯曲接头71、72或通过其内部分别与手术构件31、32连接的结构构成，这种驱动力传递构件的连接结构也被上面列出的在先技术等公开，故省略详细说明。In addition, the driving force transmission member is also composed of a structure that runs through the free bending joints 71, 72 or is connected to the operative components 31, 32 through its interior. public, so detailed description is omitted.
另一方面，作为本实施例的基本结构，如实施例（图39）中所描述，也可以将一对手术构件30中的一个作为固定手术构件直接固定在主体21上，而不形成自由弯曲接头，另一手术构件、即可动手术构件通过自由弯曲接头连接，从而实现各种功能。On the other hand, as the basic structure of this embodiment, as described in the embodiment ( FIG. 39 ), it is also possible to directly fix one of the pair of operative members 30 on the main body 21 as a fixed operative member without free bending Joint, another operative component, that is, the movable operative component is connected through a freely bending joint, so as to realize various functions.
除了上述本发明的几个实施例之外，也可以应用本发明的技术思想构成各种实施例。下面描述的其它不同实施例，即使没有附图说明，本发明所属技术领域的普通技术人员也可以通过所述几个实施例的附图或详细说明容易实施，故省略附图，简要描述各实施例的结构。In addition to the above-mentioned several embodiments of the present invention, various embodiments can also be formed by applying the technical idea of the present invention. Other different embodiments described below, even if there is no description of the drawings, those of ordinary skill in the art of the present invention can easily implement through the drawings or detailed descriptions of the several embodiments, so the drawings are omitted and each implementation is briefly described example structure.
前面描述的本发明的几个实施例例示出利用两个、即一对手术构件30的结构，但也可以组合三个或其以上的手术构件。The several embodiments of the present invention described above exemplify the configuration using two, ie, a pair of operative members 30, but three or more operative members may also be combined.
此外，上述本发明的实施例中以镊子和剪刀一起使用的结构为主进行了说明，但这仅是一例，只要一对手术构件30彼此协同而能够利用的功能，也可以构成为电棒、锥子等其它不同功能。In addition, in the above-mentioned embodiment of the present invention, the structure in which tweezers and scissors are used together has been mainly described, but this is only an example. As long as a pair of operating members 30 cooperate with each other and can utilize functions, they can also be configured as electric rods and awls. and other different functions.
此外，即使一对手术构件30是同一种手术构件，也可以大小或功能等稍有不同的构成。例如，参照图27，彼此相对的‘A’部分可以利用相对面积较大的镊子，‘B’侧面做成非剪刀那样锋利结构的面结构而作为相对面积较小的镊子利用。In addition, even if the pair of operation members 30 are the same operation member, they may have slightly different configurations such as size and function. For example, with reference to Fig. 27, the 'A' parts opposite to each other can utilize relatively large tweezers, and the 'B' side is made into a non-scissors-like surface structure and utilized as relatively small tweezers.
〈另一实施例〉<another embodiment>
下面在说明本发明的图49至图52的实施例时，在附图中对相同类似构成部分赋予了相同附图标记，省略重复说明。When describing the embodiments of the present invention shown in FIGS. 49 to 52 below, the same reference numerals are assigned to the same and similar components in the drawings, and repeated descriptions will be omitted.
图49是示出本发明的另一实施例涉及的手术器械的执行器结构的概念图，图50是示出本发明的另一实施例涉及的手术器械的使用状态的示意图。参照图49和图50，示出了执行器1、第一钳口10、夹持面12、22、第一转盘14、第二钳口20、第二转盘24。FIG. 49 is a conceptual diagram illustrating the structure of an actuator of a surgical instrument according to another embodiment of the present invention, and FIG. 50 is a schematic diagram illustrating a state of use of the surgical instrument according to another embodiment of the present invention. Referring to FIG. 49 and FIG. 50 , the actuator 1 , the first jaw 10 , the clamping surfaces 12 , 22 , the first turntable 14 , the second jaw 20 , and the second turntable 24 are shown.
本实施例的特征在于，可以通过在手术器械的夹持器末端增设转盘，手术过程中用转盘夹持（grip）组织或脏器，并在夹持状态以不损伤组织或脏器的情况下使器械旋转。The feature of this embodiment is that by adding a turntable at the end of the holder of the surgical instrument, the turntable can be used to grip (grip) the tissue or organ during the operation, and the tissue or organ can be clamped in the clamped state without damaging the tissue or organ. Rotate the instrument.
本实施例涉及的手术器械是在其末端部结合有夹持器的执行器1结构，基本上包括一对钳口、即进行夹持动作的第一钳口10和第二钳口20。本实施例涉及的执行器1结构，其特征在于，在一对钳口10、20上分别设置有可旋转的转盘14、24。The surgical instrument involved in this embodiment is an actuator 1 structure with a gripper combined at its distal end, and basically includes a pair of jaws, that is, a first jaw 10 and a second jaw 20 for gripping. The structure of the actuator 1 involved in this embodiment is characterized in that a pair of jaws 10, 20 are respectively provided with rotatable turntables 14, 24.
第一钳口10和第二钳口20进行夹持动作的过程中彼此相接的面称为夹持面12、22时，各转盘、即设置在第一钳口10上的第一转盘14和设置在第二钳口20上的第二转盘24彼此相对，而转盘14、24的表面与夹持面12、22同样在夹持过程中彼此相接。During the clamping action of the first jaw 10 and the second jaw 20, the surfaces that meet each other are called clamping surfaces 12, 22. The second turntable 24 arranged on the second jaw 20 is opposite to each other, and the surfaces of the turntables 14, 24 and the clamping surfaces 12, 22 are also in contact with each other during the clamping process.
这样在手术过程中使用在各钳口10、20上设置有转盘14、24的夹持器来夹持组织或脏器的情况，可以分为使用转盘14、24的表面夹持的情况和使用夹持面12、22夹持的情况。In this way, during the operation, the situation of using the clamper provided with the rotating disk 14, 24 on each jaw 10, 20 to clamp the tissue or organ can be divided into the situation of using the surface clamping of the rotating disk 14, 24 and the use of The clamping situation of the clamping surfaces 12, 22.
使用转盘14、24来夹持组织或脏器时，可以在该夹持状态下，钳口相对于转盘14、24旋转，因此能够在夹持状态下使器械（以转盘为中心）旋转。这种能够使器械以旋转的状态夹持的情况称为‘可旋转夹持’并进行说明。When using the turntables 14 and 24 to clamp tissues or organs, the jaws can rotate relative to the turntables 14 and 24 in the clamped state, so that the instrument (centering on the turntable) can be rotated in the clamped state. This state of being able to hold the instrument in a rotated state is called 'rotatable holding' and will be described.
另一方面，使用夹持面12、22夹持组织或脏器时，与现有夹持器同样，处于难以使器械旋转的状态，下面将这种情况称为‘固定夹持’并进行说明。On the other hand, when tissues or organs are clamped using the clamping surfaces 12, 22, it is in a state where it is difficult to rotate the instrument, as with conventional clamps, and this situation will be described as "fixed clamping" below. .
本实施例涉及的器械，其特征在于，可进行可旋转夹持，根据需要也可进行固定夹持。The instrument involved in this embodiment is characterized in that it can be clamped rotatably, and can also be clamped fixedly if necessary.
为了选择实现可旋转夹持和固定夹持，如图49所示，可以使转盘14、24的表面和夹持面12、22处于同一平面上。即，使钳口10、20的一部分内陷相当于转盘14、24的厚度，并在其内陷部分设置转盘14、24，从而使转盘14、24的表面与夹持面12、22一致。这种结构能够使钳口10、20表面的一部分（转盘表面）使用于可旋转夹持而另一部分（夹持面）使用于固定夹持。In order to selectively implement rotatable clamping and fixed clamping, as shown in FIG. 49 , the surfaces of the turntables 14 , 24 and the clamping surfaces 12 , 22 may be on the same plane. That is, a portion of the jaws 10, 20 is recessed by the thickness of the turntables 14, 24, and the turntables 14, 24 are provided in the recessed parts so that the surfaces of the turntables 14, 24 coincide with the clamping surfaces 12, 22. This structure enables a part of the surface of the jaws 10, 20 (turntable surface) to be used for rotatable clamping while the other part (clamping surface) is used for fixed clamping.
在此，转盘14、24的表面和夹持面12、22处于‘同一平面’并非仅指数学意义上的同一平面，该同一平面表示使用夹持器夹持组织或脏器时，夹持方式不是根据夹持面的突出高度而根据夹持面的位置而不同的意思。Here, the 'same plane' between the surfaces of the turntables 14, 24 and the clamping surfaces 12, 22 does not mean the same plane in the mathematical sense. It does not mean that the protruding height of the clamping surface differs depending on the position of the clamping surface.
如本实施例，若在夹持器的钳口10、20上增设转盘14、24，则除了能够在夹持状态下旋转器械的优点之外，还具有在手术过程中能够容易取出掉落在患者腹腔内的针或夹子等的优点。As in this embodiment, if additional rotating discs 14, 24 are added on the jaws 10, 20 of the holder, then in addition to the advantage of being able to rotate the instrument in the clamped state, it also has the advantage of being able to easily take out and drop the instrument during the operation. Advantages such as needles or clips in the patient's abdominal cavity.
以针为例，以往在利用器械取出掉落在患者腹腔内的针的过程中，存在针被套管刮碰而再次掉落等问题，然而，使用本实施例涉及的夹持器的情况，如图50的（a）所示，利用转盘14、24夹持掉落在腹腔内的针（needle）取出的过程中，当针被套管（trocar）挂住时，通过其反作用力，转盘14、24自然旋转，因此，如图50的（b）所示，能够不受套管的干扰而容易取出针。Taking the needle as an example, in the past, in the process of taking out the needle that fell into the patient's abdominal cavity with instruments, there were problems such as the needle being scratched by the sleeve and falling again. However, when the holder involved in this embodiment is used, such as As shown in (a) of Figure 50, during the process of taking out the needle dropped into the abdominal cavity by clamping the rotating disk 14, 24, when the needle is caught by the trocar, the rotating disk 14, 24 rotates naturally, therefore, as shown in (b) of FIG. 50 , the needle can be easily taken out without being interfered by the cannula.
图51是示出本发明的另一实施例涉及的手术器械的转盘的概念图。参照图51，示出了第一钳口10、夹持面12、22、第一转盘14、突起16、28、第二钳口20、第二转盘24、凹槽26。Fig. 51 is a conceptual diagram showing a turntable of a surgical instrument according to another embodiment of the present invention. Referring to FIG. 51 , the first jaw 10 , the clamping surfaces 12 , 22 , the first turntable 14 , the protrusions 16 , 28 , the second jaw 20 , the second turntable 24 , and the groove 26 are shown.
在本实施例中，在转盘14、24形成有突起16和凹槽26，因此更容易夹持夹子（clip）或针（needle）。In this embodiment, protrusions 16 and grooves 26 are formed on the turntables 14 and 24 , so it is easier to hold a clip or a needle.
即，如图51的（a）所示，在第一转盘14上突出设置突起16（或凹槽），以形成在夹持过程中使突起16插入到凹槽26内的结构，而在第二转盘24上内陷形成凹槽26（或突起）时，夹子或针等即使不与转盘14、24的表面接触也能够悬挂在突起16上，从而能够容易夹持夹子等。That is, as shown in (a) of FIG. 51 , protrusions 16 (or grooves) are protrudingly provided on the first turntable 14 to form a structure in which the protrusions 16 are inserted into the grooves 26 during the clamping process. When the grooves 26 (or protrusions) are indented on the two turntables 24, clips or needles can hang on the protrusions 16 even if they do not contact the surfaces of the turntables 14, 24, so that clips and the like can be easily clamped.
在图51的（a）中例示出形成有一个突起-凹槽结构的情况，但根据需要也可以形成多个突起和与其相对应的多个凹槽。In (a) of FIG. 51 , a case where one protrusion-groove structure is formed is exemplified, but a plurality of protrusions and a plurality of corresponding grooves may be formed as needed.
另一方面，如图51的（b）所示，也可以在第一转盘14和第二转盘24上均突出设置突起16、28，从而在夹持过程中使突起彼此咬合，此时，夹子等被夹持成位于突起16和突起28之间，因此，夹子等即使不与转盘14、24的表面接触，也能够容易夹持夹子等。On the other hand, as shown in (b) of Figure 51, protrusions 16, 28 can also be protrudingly provided on both the first turntable 14 and the second turntable 24, so that the protrusions engage each other during the clamping process. At this time, the clip Since the clamps and the like are clamped between the protrusions 16 and 28, the clamps and the like can be easily clamped without contacting the surfaces of the turntables 14 and 24.
在图51的（b）中例示出形成有一个突起-突起结构的情况，但根据需要也可以形成有多个彼此相对应的突起结构。In (b) of FIG. 51 , a case where one protrusion-to-protrusion structure is formed is exemplified, but a plurality of protrusion structures corresponding to each other may be formed as needed.
图52是示出本发明的另一实施例涉及的手术器械的执行器结构的示意图。参照图52，示出了第一钳口10、夹持面12、22，第一转盘14、突起32、34、第二钳口20、第二转盘24、凹槽33、35，弹性体30。Fig. 52 is a schematic diagram showing the structure of an actuator of a surgical instrument according to another embodiment of the present invention. With reference to Fig. 52, have shown first jaw 10, clamping surface 12,22, first turntable 14, protrusion 32,34, second jaw 20, second turntable 24, groove 33,35, elastic body 30 .
本实施例涉及的转盘14、24，在通常情况下，比夹持面12、22略微突出的状态下进行可旋转夹持，而当以规定以上的力量握紧一对钳口10、20时，转盘14、24被固定在母体（钳口）上而不能旋转，从而能够进行固定夹持。The turntables 14, 24 involved in the present embodiment are usually rotatably clamped in a state slightly protruding from the clamping surfaces 12, 22. , the turntables 14, 24 are fixed on the parent body (jaws) and cannot rotate, so that fixed clamping can be performed.
即，将本实施例涉及的第一转盘14设置在第一钳口10上时，转盘14可以通过弹簧等弹性体30支承在钳口10上，而转盘14的表面要比夹持面12略微突出。That is, when the first turntable 14 involved in this embodiment is arranged on the first jaw 10, the turntable 14 can be supported on the jaw 10 by an elastic body 30 such as a spring, and the surface of the turntable 14 is slightly smaller than the clamping surface 12. protrude.
如此设置转盘14时，在通常情况下，可以使用转盘14来进行可旋转夹持。此外，以大于弹性体30弹力的力量操作一对钳口10、20来进行夹持动作时，第一转盘14向第一钳口10被施压，因此由于转盘14和钳口10之间的摩擦，转盘14处于不能自如旋转的状态，即，处于旋转受约束的状态。转盘14的旋转受约束的状态下，使用转盘14进行夹持动作时，只能进行固定夹持，而不能进行可旋转夹持。When the turntable 14 is arranged in this way, the turntable 14 can be used for rotatable clamping under normal circumstances. In addition, when the pair of jaws 10, 20 are operated with a force greater than the elastic force of the elastic body 30 to carry out the clamping action, the first turntable 14 is pressed against the first jaw 10, so due to the gap between the turntable 14 and the jaws 10 Due to friction, the turntable 14 is in a state where it cannot freely rotate, that is, it is in a state where rotation is restricted. In the state where the rotation of the turntable 14 is restricted, when the turntable 14 is used for clamping, only fixed clamping can be performed, and rotatable clamping cannot be performed.
总之，转盘14被弹性支承在钳口10上时，在通常情况下，可以使用转盘14来进行可旋转夹持，但是以大于弹性体30弹力的力量来使钳口10咬合时，旋转体14不能旋转，从而进行固定夹持，因此，即使同样使用转盘14来进行夹持动作，可以通过调节钳口10咬合的力量来选择进行可旋转夹持和固定夹持。In a word, when the turntable 14 is elastically supported on the jaws 10, in general, the turntable 14 can be used for rotatable clamping, but when the jaws 10 are engaged with a force greater than the elastic force of the elastic body 30, the rotating body 14 It cannot be rotated so as to carry out fixed clamping. Therefore, even if the turntable 14 is also used for clamping action, the rotatable clamping and fixed clamping can be selected by adjusting the bite force of the jaws 10 .
另一方面，为了使转盘14被施压至钳口10而摩擦约束旋转的作用更加有效，可以在与钳口对置的转盘14的表面上形成突起32（或凹槽），而在钳口10上形成凹槽33（或突起）以与转盘14上形成的突起32（或凹槽）匹配。On the other hand, in order to make the rotating disk 14 pressed to the jaws 10 so that the effect of frictionally constraining the rotation is more effective, a protrusion 32 (or groove) can be formed on the surface of the rotating disk 14 opposite to the jaws, and on the jaws Grooves 33 (or protrusions) are formed on the 10 to match the protrusions 32 (or grooves) formed on the turntable 14 .
这样，在转盘14和钳口10之间形成相匹配的突起-凹槽结构的情况，转盘14被钳口10施压时，突起32和凹槽33彼此咬合，从而能够更加约束转盘14的旋转。In this way, when a matching protrusion-groove structure is formed between the turntable 14 and the jaws 10, when the turntable 14 is pressed by the jaws 10, the protrusions 32 and the grooves 33 engage with each other, so that the rotation of the turntable 14 can be more restricted. .
根据夹持力选择约束转盘旋转的结构，可以仅用在一对钳口10、20上设置的转盘14、24中的任一个上，也可以用在一对转盘14、24中的两个上。According to the clamping force, the structure to restrict the rotation of the turntable can be used only on any one of the turntables 14, 24 provided on the pair of jaws 10, 20, or on two of the pair of turntables 14, 24 .
即，与第一转盘14同样，在将第二转盘24设置于第二钳口20上时，转盘24通过弹簧等弹性体30被支承在钳口20上，且转盘24的表面要比夹持面22略微突出。That is, like the first rotating disk 14, when the second rotating disk 24 is arranged on the second jaw 20, the rotating disk 24 is supported on the jaw 20 by an elastic body 30 such as a spring, and the surface of the rotating disk 24 is larger than the clamping surface. Face 22 protrudes slightly.
这样，一对转盘14、24分别被一对钳口10、20弹性支承时，在通常情况下，可以使用转盘14、24来进行可旋转夹持，而当以大于弹性体30弹力的力量来使钳口10、20咬合时，旋转体14、24不能旋转，从而可进行固定夹持。In this way, when a pair of turntables 14, 24 are elastically supported by a pair of jaws 10, 20 respectively, under normal circumstances, the turntables 14, 24 can be used to carry out rotatable clamping, and when a force greater than the elastic force of the elastic body 30 is used to When the jaws 10, 20 are engaged, the rotating bodies 14, 24 cannot rotate, so that fixed clamping can be performed.
此外，为了使第二转盘24更加可靠地具有因与钳口20摩擦而旋转受约束的功能，可以在与钳口20对置的转盘24的表面上形成突起34（或凹槽），而在钳口20上形成凹槽35（或突起），以与转盘24上形成的突起34（或凹槽）匹配。In addition, in order to make the second turntable 24 have the function of being restricted in rotation due to friction with the jaws 20 more reliably, a protrusion 34 (or a groove) can be formed on the surface of the turntable 24 opposite to the jaws 20, and on the Grooves 35 (or protrusions) are formed on the jaws 20 to match the protrusions 34 (or grooves) formed on the turntable 24 .
另一方面，本实施例涉及的转盘的表面可以以与钳口的夹持面相同材料或图案成型形成，以避免在夹持过程中对象物滑落从而能够准确夹持。或者，即使转盘的表面由与夹持面不同的材料构成，也可以通过由具有弹性的材料、例如橡胶、硅胶、聚氨酯等材料构成，从而能够不滑落地稳固夹持。On the other hand, the surface of the turntable in this embodiment can be formed with the same material or pattern as the clamping surface of the jaws, so as to prevent the object from slipping during the clamping process so as to enable accurate clamping. Alternatively, even if the surface of the turntable is made of a different material from the clamping surface, it can be firmly clamped without slipping by being made of an elastic material such as rubber, silicone, or polyurethane.
如上所述的，本发明的实施例中描述的技术思想可以分别独立实施，也可以组合实施。而且，本发明通过附图和在发明的内容中记载的实施例来进行了说明，但这仅是例示，本发明所属技术领域的普通技术人员可以由此做出各种变形和均等的其它实施例。因此，本发明的技术保护范围应以权利要求书的记载为准。As mentioned above, the technical ideas described in the embodiments of the present invention can be implemented independently or in combination. Furthermore, the present invention has been described by means of the drawings and the embodiments described in the content of the invention, but these are only examples, and those skilled in the art to which the present invention pertains can make various modifications and other equivalent implementations. example. Therefore, the technical protection scope of the present invention should be determined by the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510446612.8ACN105078524A (en) | 2010-08-27 | 2011-08-22 | Instrument for surgical operation |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2010-0083252 | 2010-08-27 | ||
| KR1020100083252AKR101733401B1 (en) | 2010-08-27 | 2010-08-27 | Effector structure of surgical instrument |
| KR1020100090109AKR101146945B1 (en) | 2010-09-14 | 2010-09-14 | Wrist device for surgical tool |
| KR10-2010-0090109 | 2010-09-14 | ||
| KR10-2010-0090775 | 2010-09-15 | ||
| KR20100090775 | 2010-09-15 | ||
| KR10-2010-0113983 | 2010-11-16 | ||
| KR1020100113983AKR101684863B1 (en) | 2010-11-16 | 2010-11-16 | Instrument of surgical apparatus having multi-function |
| KR10-2011-0083013 | 2011-08-19 | ||
| KR1020110083013AKR101643188B1 (en) | 2010-09-15 | 2011-08-19 | Wrist device for surgical tool |
| PCT/KR2011/006175WO2012026720A2 (en) | 2010-08-27 | 2011-08-22 | Instrument for surgical operation |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510446612.8ADivisionCN105078524A (en) | 2010-08-27 | 2011-08-22 | Instrument for surgical operation |
| Publication Number | Publication Date |
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| CN103068333A CN103068333A (en) | 2013-04-24 |
| CN103068333Btrue CN103068333B (en) | 2015-09-16 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201510446612.8APendingCN105078524A (en) | 2010-08-27 | 2011-08-22 | Instrument for surgical operation |
| CN201180038902.9AActiveCN103068333B (en) | 2010-08-27 | 2011-08-22 | Surgical Instruments |
| Application Number | Title | Priority Date | Filing Date |
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| CN201510446612.8APendingCN105078524A (en) | 2010-08-27 | 2011-08-22 | Instrument for surgical operation |
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