WO2021255878A1

WO2021255878A1 - Forceps device

Info

Publication number: WO2021255878A1
Application number: PCT/JP2020/023860
Authority: WO
Inventors: 康平中溝
Original assignee: 朝日インテック株式会社
Priority date: 2020-06-17
Filing date: 2020-06-17
Publication date: 2021-12-23

Abstract

The present invention makes it possible to realize an action having multiple degrees of freedom using a small amount of operating line. This forceps device comprises two base-end-side pulleys 40, 41 that can be driven independently of each other, a pulley unit 27, distal-end-side pulleys 12, 13 that are capable of transmitting drive force to end effectors 10, 11, and a pulley unit 21, the forceps device being configured such that: the base-end-side pulleys 40, 41 are capable of moving in the vertical direction relative to the pulley unit 27; the distal-end-side pulleys 12, 13 are capable of moving in the vertical direction relative to the pulley unit 21; two respective systems of wire ropes (20A, 20B; 20C, 20D) are stretched onto the base-end-side pulleys 40, 41 via the pulley unit 21 and the pulley unit 27 so as to enable rotation of the distal-end-side pulleys 12, 13 in both directions; and when the base-end-side pulleys 40, 41 are moved vertically relative to the pulley unit 27, vertical-direction movement of the distal-end-side pulleys 12, 13 relative to the pulley unit 21 is enabled via the wire ropes. <sp />

Description

Forceps device

The present invention relates to a multi-degree-of-freedom forceps device used in, for example, laparoscopic surgery.

In a general forceps device used for laparoscopic surgery, the external force applied to the moving part at the tip, the gripping force to grip, etc. are transmitted to the operator's hand via the forceps body as a reaction. These forces can be felt to some extent, and appropriate operability can be obtained.

However, since a general forceps device has, for example, one degree of freedom, the direction of gripping the tissue, the direction of cutting the tissue, the direction of inserting the suture needle, etc. are limited, which is inconvenient and can be operated. Requires skill.

As a technique for realizing multiple degrees of freedom at the tip of a forceps device having appropriate operability for an operator, for example, the device described in Patent Document 1 is known. In Patent Document 1, a wire is used to realize the three degrees of freedom required for a forceps device: opening / closing of a moving portion at the tip, swinging up and down, and swinging left and right. In such a forceps device, for example, six wires are used in order to realize these three degrees of freedom.

Japanese Unexamined Patent Publication No. 2006-61364.

For the forceps device used for laparoscopic surgery, it is required to reduce the size of the shaft of the forceps device. When six wires are used as in the above technique, these wires are attached to the shaft. It is necessary to accommodate it, which makes it difficult to reduce the diameter of the shaft.

The present invention has been made based on the above circumstances, and an object thereof is to enable a forceps device to realize a multi-degree-of-freedom operation with a small number of operation lines.

In order to achieve such an object, the forceps device according to one aspect is a forceps device having two sandwiching portions capable of sandwiching an object, and the tip portion is moved in a vertical direction, an opening / closing operation, and a lateral direction. A second base having a movable tip, two base end side pulleys that can be driven independently by power from a power source and have a common rotation axis, and a rotation surface that intersects the rotation surface of the base end side pulley. (1) A rotating surface that can transmit the driving force to rotate each of the pulley portion and the sandwiched portion of the tip portion, and has two tip-side pulleys having a common rotation axis and the rotation surface of the tip-side pulley. The two base end side pulleys are provided with a second pulley portion, and the two base end side pulleys can move in the vertical direction about the rotation axis of the first pulley portion, and the two tip end side pulleys are the second pulley portion. The first pulley portion and the second pulley portion can be moved in the vertical direction around the rotation axis of the portion, and the distal end side pulleys, which are different from each other, can be rotated in both directions on the proximal end side pulleys. Two operation lines are hung through the pulley portions, and when the base end side pulley is rotated, the tip end side pulley is rotated via the first pulley portion and the second pulley portion. The sandwiching portion can be rotated, and when the two base end side pulleys are moved in the vertical direction about the rotation axis with respect to the first pulley portion, the two tip end sides are moved through the operation line. The pulley can move in a predetermined amount or more in the vertical direction around the rotation axis of the second pulley portion.

In the forceps device, the angle formed by the rotation surface of the proximal end side pulley and the rotation surface of the first pulley portion is vertical, and the rotation surface of the tip end side pulley and the rotation surface of the second pulley portion form. The corners may be vertical.

Further, in the forceps device, each of the tip side pulleys may be connected to each of the sandwiching portions.

Further, the forceps device may include two finger hooks operated by a user's finger, and each of the proximal end side pulleys may be connected to an operation shaft that can be rotated by different finger hooks.

Further, in the forceps device, an integrally rotatable tip-side gear is connected to each of the tip-side pulleys, and the tip-side pulley and the sandwiching portion are connected via the tip-side gear. May be.

Further, the forceps device includes two finger hooks operated by a user's finger, and each of the proximal end side pulleys is connected to an integrally rotatable proximal end side gear, and the proximal end side is connected to the proximal end side. The drive force from the finger hook operated by the user's finger may be transmitted to the pulley via the base end side gear.

Further, in the forceps device, the operation line may be partially composed of a rod member between the first pulley portion and the second pulley portion.

Further, in the forceps device, a third pulley portion is provided in the vicinity of the tip end side of the first pulley portion, and a fourth pulley portion is provided in the vicinity of the proximal end side of the second pulley portion. , May be hung on the third pulley portion and the fourth pulley portion.

According to the present invention, in the forceps device, it is possible to realize a multi-degree-of-freedom operation with a small number of operation lines.

It is a perspective view of the forceps device which concerns on one Embodiment. It is sectional drawing of the forceps device. It is a top view of the forceps device. It is a schematic block diagram of a forceps device. It is sectional drawing of the operation part in the forceps device. It is a wiring diagram of a wire rope in a forceps device. It is a figure explaining the vertical swing operation of a forceps device. It is a figure explaining the opening and closing operation of a forceps device. It is a figure explaining the lateral swing operation of a forceps device. It is a schematic block diagram of the forceps apparatus which concerns on 1st modification. It is a schematic block diagram of the forceps apparatus which concerns on 2nd modification. It is a schematic block diagram of the forceps apparatus which concerns on 3rd modification. It is a schematic block diagram of the forceps apparatus which concerns on 4th modification. It is a schematic block diagram of the forceps apparatus which concerns on 5th modification. It is a schematic block diagram of the forceps apparatus which concerns on 6th modification. It is a schematic block diagram of the forceps apparatus which concerns on 7th modification. It is a schematic block diagram of the forceps apparatus which concerns on 8th modification. It is a figure explaining the vertical swing operation of a forceps device.

The forceps device according to the embodiment will be described with reference to the drawings, but the present invention is not limited to the embodiments described in the drawings.

In the present specification, the "tip side" and the "tip direction" mean the side and the direction in which the sandwiching portion of the object is located. Further, the "base end side" and the "base end direction" mean the side and the direction in which the operation unit for applying the power for driving the sandwiching portion is located. Further, the "tip" refers to the end portion on the distal end side of any member or portion, and the "base end" indicates the end portion on the proximal end side of any member or portion.

FIG. 1 is a perspective view of a forceps device according to an embodiment, and FIGS. 2 and 3 are a cross-sectional view and a top view thereof. When explaining the directions in the figure, the illustrated X-axis, Y-axis, and Z-axis are appropriately used. Further, the directions of the X-axis, the Y-axis, and the Z-axis in each figure are basically the same. Here, the positive direction of the X-axis (the direction of the arrow indicating the X-axis) indicates the proximal end side, and the opposite indicates the distal end side. Further, when the longitudinal direction of the forceps device 1 is horizontal (referred to as a reference state), the Z-axis direction is the vertical direction, the X-axis is the longitudinal direction, and the Y-axis is the longitudinal direction. It is an orthogonal short direction. Therefore, the Z-axis direction may be referred to as a vertical direction, and the Y-axis direction may be referred to as a left-right direction or a lateral direction.

The forceps device 1 is a forceps device having multiple degrees of freedom, and includes a tip portion 2, a connecting portion 3, an intermediate portion 4, a connecting portion 5, and an operating portion 6. The tip portion 2 is a portion for gripping an object, and can swing up and down, swing left and right, and open and close. The connecting portion 3 connects the tip portion 2 to the intermediate portion 4 so as to be rotatable in the vertical direction. In the present embodiment, the tip portion 2 can rotate in the vertical direction about the rotation axis of the pulley portion 21.

The intermediate portion 4 includes a hollow shaft 8, a distal end side pulley fixing portion 7 connected to the distal end side of the shaft 8, and a proximal end side pulley fixing portion 9 connected to the proximal end side of the shaft 8. The shaft 8 may be made of, for example, CFRP (Carbon Fiber Reinforced Plastic), medical stainless steel, or the like. The connecting portion 5 connects the operating portion 6 to the intermediate portion 4 so as to be rotatable in the vertical direction. In the present embodiment, the operation unit 6 can rotate in the vertical direction about the rotation axis of the pulley unit 27. The operation unit 6 is a portion for a user (for example, a surgeon) to operate the tip portion 2 in order to swing the tip portion 2 up and down, swing left and right, and open and close.

4A and 4B are schematic configuration views of a forceps device, FIG. 4A is a top view thereof, FIG. 4B is a side view facing the Y-axis direction, and FIG. 4C is a side view from the X-axis direction. It is a side view. A pulley portion 21 and a pulley portion 23 are rotatably supported around a predetermined rotation axis on the tip end side pulley fixing portion 7 of the intermediate portion 4. When the forceps device 1 is in the reference state, the rotation axis of the pulley portion 21 and the pulley portion 23 is an axis parallel to the Y axis, and the rotation plane is an XX plane (vertical plane). ing.

The pulley portion 21 is an example of the second pulley portion, and has four pulleys 22A to 22D. The pulleys 22A to 22D are disk-shaped members having a groove portion formed on the outer periphery on which a wire rope can be hung, and can rotate independently about a predetermined rotation axis. The pulleys 22A to 22D may be made of, for example, medical stainless steel.

The pulley portion 23 is an example of the fourth pulley portion, and has four pulleys 24A to 24D. The pulleys 24A to 24D are disk-shaped members having a groove portion formed on the outer periphery on which a wire rope can be hung, and can rotate independently about a predetermined rotation axis. The pulleys 24A to 24D may be made of, for example, medical stainless steel.

A pulley portion 25 and a pulley portion 27 are rotatably supported around a predetermined rotation axis in the base end side pulley fixing portion 9. When the forceps device 1 is in the reference state, the rotation axis of the pulley portion 25 and the pulley portion 27 is an axis parallel to the Y axis, and the rotation plane is an XX plane (vertical plane). ing.

The pulley portion 25 is an example of the third pulley portion, and has four pulleys 26A to 26D. The pulleys 26A to 26D are disk-shaped members having a groove formed on the outer periphery on which a wire rope can be hung, and can rotate independently about a predetermined rotation axis. The pulleys 26A to 26D may be made of, for example, medical stainless steel.

The pulley portion 27 is an example of the first pulley portion, and has four pulleys 28A to 28D. The pulleys 28A to 28D are disk-shaped members having a groove formed on the outer periphery on which a wire rope can be hung, and can rotate independently about a predetermined rotation axis. The pulleys 28A to 28D may be made of, for example, medical stainless steel.

In the present embodiment, the diameters (pulley diameters) of the pulleys 22A to 22D and 24A to 24D are, for example, 6 mm, and the diameters of the pulleys 26A to 26D, 28A to 28D are, for example, 9 mm. The ratio is 2: 3.

The tip portion 2 has a pair of

end effectors

10 and 11 and tip side pulleys 12 and 13. The

end effectors

10 and 11 are examples of the sandwiching portions, and the object can be gripped by narrowing (closing) the angle between them. The tip side pulley 12 and the tip side pulley 13 are disk-shaped members having a groove portion formed on the outer periphery on which a wire rope can be hung, and can rotate independently about a predetermined rotation axis. When the forceps device 1 is in the reference state and the tip portion 2 is not swinging up and down (the state shown in FIG. 4), the tip side pulley 12 is located above the tip side pulley 13 (plus direction of the Z axis). However, their rotation axes are axes parallel to the Z axis (vertical axes), and the rotation planes are XY planes (horizontal planes). Therefore, even when the tip portion 2 is rotated up and down with respect to the intermediate portion 4, the rotation axis of the tip side pulleys 12 and 13 is perpendicular to the rotation axis of the pulley portion 21, in other words, the tip. The rotating surface of the side pulleys 12 and 13 is perpendicular to the rotating surface of the pulley portion 21. The distal end side pulley 12 and the distal end side pulley 13 may be made of, for example, medical stainless steel.

The tip side pulley 12 is connected to the end effector 11 on the minus side of the Y axis, and when the tip side pulley 12 rotates, the end effector 11 rotates. Further, the tip side pulley 13 is connected to the end effector 10 on the plus side of the Y axis, and when the tip side pulley 13 rotates, the end effector 10 rotates.

Two lines of

wire ropes

20A and 20D are hung on the groove portion of the tip side pulley 12, and one end of each of these two lines of wire rope is fixed. Two lines of

wire ropes

20B and 20C are hung on the groove portion of the tip side pulley 13, and one end of each of the two lines of wire rope is fixed. Here, the wire ropes 20A to 20D are formed by, for example, twisting a plurality of wires (wires).

FIG. 5 is a cross-sectional view of the operation unit. The operation unit 6 includes base end side pulleys 40, 41, a solid shaft 42 and a hollow shaft 43 as an example of an operation shaft,

bearings

44, 45,

keys

46, 47, 50, 51, and finger hooks 48, 49. And.

The base end side pulleys 40 and 41 are disk-shaped members each having a groove portion formed on the outer circumference on which a wire rope can be hung, and can rotate independently about a predetermined rotation axis. When the forceps device 1 is in the reference state and the operation unit 6 is not rotated up and down (the state shown in FIG. 4), the proximal end side pulley 40 is above the proximal end side pulley 41 (plus direction of the Z axis). ), Their rotation axes are axes parallel to the Z axis (vertical axes), and the rotation planes are XY planes (horizontal planes). Therefore, even when the operating portion 6 is rotated up and down with respect to the intermediate portion 4, the rotation axis of the proximal end side pulleys 40 and 41 is perpendicular to the rotation axis of the pulley portion 27, in other words. The rotating surface of the base end side pulleys 40 and 41 is perpendicular to the rotating surface of the pulley portion 27. The proximal end side pulley 40 and the proximal end side pulley 41 may be made of, for example, medical stainless steel.

Two lines of

wire ropes

20A and 20D are hung on the groove portion of the base end side pulley 40, and one end of each of the two lines of wire rope is fixed. Two lines of

wire ropes

20B and 20C are hung on the groove portion of the base end side pulley 41, and one end of each of the two lines of wire rope is fixed.

The finger hooks 48 and 49 are the parts where one finger of one hand of the user of the forceps device 1 is inserted and a driving force for operating the forceps device 1 is applied. In the present embodiment, the finger hooks 48 and 49 are configured to be on the tip side with respect to the operation axis in the reference state.

The solid shaft 42 is inserted into the hollow portion of the hollow shaft 43, and is rotatably provided on the inner circumference of the hollow shaft 43 via

bearings

44 and 45. The base end side pulley 40 is fixed to the solid shaft 42 by the key 46, and can rotate integrally with the solid shaft 42. The base end side pulley 41 is fixed to the hollow shaft 43 by the key 47, and can rotate integrally with the hollow shaft 43.

The finger hook 48 is fixed to the hollow shaft 43 by the key 50 and can rotate integrally with the hollow shaft 43. The finger hook 49 is fixed to the solid shaft 42 by the key 51 and can rotate integrally with the solid shaft 42. Therefore, when the user rotates the finger hook 48, the proximal end side pulley 41 rotates in the same direction, and when the user rotates the finger hook 49, the proximal end side pulley 40 rotates in the same direction. ..

Next, the wiring of the wire rope hung between the distal end side pulleys 12 and 13 and the proximal end side pulleys 40 and 41 in the forceps device 1 will be described. 6A and 6B are wire rope wiring diagrams, FIG. 6A shows the wiring of the wire rope between the distal end side pulley 12 and the proximal end side pulley 40, and FIG. 6B shows the wiring of the wire rope between the distal end side pulley 12 and the proximal end side pulley 40. The wiring of the wire rope between the base end side pulley 41 and the pulley 41 is shown.

As shown in FIG. 6A, one end of the wire rope 20A is fixed by the fixing member 14 in the tip side pulley 12. The wire rope 20A passes from the positive side of the Y-axis of the tip side pulley 12 through the groove on the upper side of the pulley 22A, the groove on the lower side of the pulley 24A, the groove on the lower side of the pulley 26A, and the groove on the upper side of the pulley 28A. It is hung up to the base end side pulley 40. In the base end side pulley 40, the other end of the wire rope 20A is fixed by the fixing member 15.

In the tip side pulley 12, one end of the wire rope 20D is fixed by the fixing member 14. The wire rope 20D passes from the minus direction side of the Y axis of the tip side pulley 12 through the groove on the upper side of the pulley 22D, the groove on the lower side of the pulley 24D, the groove on the lower side of the pulley 26D, and the groove on the upper side of the pulley 28D. It is hung up to the base end side pulley 40. In the base end side pulley 40, the other end of the wire rope 20D is fixed by the fixing member 15.

With this configuration, when the finger hook 49 is rotated counterclockwise, the base end side pulley 40 is rotated counterclockwise, and the tip side pulley 12 connected via the

wire ropes

20A and 20D is counterclockwise. It rotates, and as a result, the end effector 11 rotates counterclockwise.

As shown in FIG. 6B, one end of the wire rope 20B is fixed by the fixing member 16 in the tip side pulley 13. The wire rope 20B passes from the positive side of the Y axis of the tip side pulley 13 through the groove on the lower side of the pulley 22B, the groove on the upper side of the pulley 24B, the groove on the upper side of the pulley 26B, and the groove on the lower side of the pulley 28B. It is hung up to the base end side pulley 41. In the base end side pulley 41, the other end of the wire rope 20B is fixed by the fixing member 17.

In the tip side pulley 13, one end of the wire rope 20C is fixed by the fixing member 16. The wire rope 20C passes from the negative direction side of the Y axis of the tip side pulley 13 through the groove on the lower side of the pulley 22C, the groove on the upper side of the pulley 24C, the groove on the upper side of the pulley 26C, and the groove on the lower side of the pulley 28C. It is hung up to the base end side pulley 41. In the base end side pulley 41, the other end of the wire rope 20C is fixed by the fixing member 17.

With this configuration, when the finger hook 48 is rotated counterclockwise, the base end side pulley 41 is rotated counterclockwise, and the tip side pulley 13 connected via the

wire ropes

20B and 20C is counterclockwise. It rotates, and as a result, the end effector 10 rotates counterclockwise.

Next, the vertical swing operation in the forceps device 1 will be described. FIG. 7 is a diagram illustrating the vertical swinging motion.

When the operation unit 6 is rotated upward, the operation unit 6 rotates about the rotation axis of the pulley unit 27. As a result, the two systems of

wire ropes

20B and 20C connected to the lower proximal end side pulley 41 are pulled toward the proximal end side, while the two systems of

wire ropes

20A and 20C connected to the upper proximal end side pulley 40. 20D will loosen. Then, the distal end side pulley 13 connected to the

wire ropes

20B and 20C is pulled toward the proximal end side and moves, while the distal end side pulley 12 connected to the

wire ropes

20A and 20D moves in a direction away from the proximal end side. It will be. As a result, the tip portion 2 (see FIG. 1) swings downward about the rotation axis of the pulley 21. Since the loosened wire rope is hung on the pulley portion 25, the state of the loosened wire rope can be effectively regulated.

On the other hand, when the operation unit 6 is rotated downward, the tip portion 2 swings upward about the rotation axis of the pulley 21 due to the four

wire ropes

20A, 20B, 20C, and 20D.

In the present embodiment, the pulley diameter of the pulley portion 27 and the pulley portion 21 is 3: 2, so that the operation unit 6 is, for example, -30 to +30 degrees with respect to the horizontal state (horizontal state is 0 degrees, clockwise). When rotated in the range of (the angle of) is positive), the tip portion 2 can be rotated in the range of −45 to +45 degrees.

By rotating the operation unit 6 around the rotation axis of the pulley unit 27, the angle at which the tip portion 2 is rotated around the rotation axis of the pulley unit 21 is the rotation angle of the operation unit 6 and the pulley. It can be adjusted to any angle by the configuration of each part such as. The angle at which the tip portion 2 can be rotated about the rotation axis of the pulley portion 21 may be set to be equal to or greater than a predetermined angle required according to the purpose of the forceps device, and the predetermined angle may be any angle, for example. , 20 degrees or more in the range of ± 10 degrees from the horizontal, or 180 degrees in the range of ± 90 degrees from the horizontal.

Next, the opening / closing operation and the lateral swinging operation in the forceps device 1 will be described. FIG. 8 is a diagram illustrating an opening / closing operation, and FIG. 9 is a diagram illustrating a lateral swing operation.

In the forceps device 1, when the finger hook 48 is rotated counterclockwise, the proximal end side pulley 41 is rotated counterclockwise, and the tip end side pulley 13 connected via the

wire ropes

20B and 20C is counterclockwise. As a result, the end effector 10 rotates counterclockwise, while the finger hook 48 rotates clockwise, the base end side pulley 41 rotates clockwise, and the

wire ropes

20B and 20C. The tip side pulley 13 connected via the above rotates clockwise, and as a result, the end effector 10 rotates clockwise. Further, in the forceps device 1, when the finger hook 49 is rotated counterclockwise by the same operation, the end effector 11 rotates counterclockwise, while when the finger hook 49 is rotated clockwise, the end effector 11 rotates clockwise.

Therefore, by moving the finger hook 48 and the finger hook 49 in relatively opposite directions, it is possible to realize an operation of widening or narrowing the angle between the

end effectors

10 and 11, that is, an opening / closing operation. Specifically, if the angle between the finger hook 48 and the finger hook 49 is widened, the

end effectors

10 and 11 can be opened as shown in FIG. 8, and if the angle between the finger hook 48 and the finger hook 49 is narrowed, the

end effectors

10 and 11 can be opened. The

end effectors

10 and 11 can be closed.

Further, by moving the finger hook 48 and the finger hook 49 in the same direction, the

end effectors

10 and 11 can be rotated in the same direction, that is, a lateral swing motion can be realized. Specifically, when the finger hook 48 and the finger hook 49 are rotated in the counterclockwise direction from the reference position, the

end effectors

10 and 11 can be swung in the counterclockwise direction as shown in FIG. 9, and the finger hook 48 can be swung. By rotating the and finger hook 49 in the clockwise direction from the reference position, the

end effectors

10 and 11 can be swung in the clockwise direction.

As described above, according to the above embodiment, the four wire ropes (20A, 20B, 20C, 20D) are used to swing the

end effectors

10 and 11 up and down, swing laterally, and open and close. You can realize the movement of the degree of freedom. In this way, the number of required wire rope systems can be reduced, so that the cost can be reduced, and the diameter of the shaft can be reduced in order to reduce the contents contained in the shaft 8. Further, according to the above embodiment, it is possible to operate with multiple degrees of freedom by complete manual operation without using an actuator such as a motor. In particular, since the operation unit 6 and the tip portion 2 are connected via an operation line, the user can directly feel the external force related to the operation by the tip portion 2 and can obtain appropriate operability. can.

Next, the forceps device according to the first modification will be described. 10A and 10B are schematic configuration views of a forceps device according to a first modification, FIG. 10A is a top view thereof, FIG. 10B is a side view facing the Y-axis direction, and FIG. 10C is an X-axis direction. It is a side view from. The same parts as those in the above-described embodiment are designated by the same reference numerals, and duplicate description will be omitted.

In the above-described embodiment, the

wire ropes

20A, 20B, 20C, and 20D are passed between the tip end side pulley 12 (13) and the base end side pulley 40 (41). In the forceps device 1A according to the first modification, a part of the operation line is replaced with a rod-shaped body such as a hypotube (hollow shaft) or a rod (center pole shaft), so that the operation line is deformed as compared with the case where the operation line is a wire rope. The amount is suppressed so that the tip portion 2 can be operated with higher accuracy.

In the forceps device 1A, as an operation line instead of the

wire ropes

20A, 20B, 20C, 20D, a part of the range in the shaft 8 is made into a rod-shaped body 60 (60A, 60B, 60C, 60D), and the tip side of the rod-shaped body 60 and the tip side of the rod-shaped body 60. An operation line is used in which the base end side is a wire rope 61 (61A, 61B, 61C, 61D) and a wire rope 62 (62A, 62B, 62C, 62D). The range of the rod-shaped body 60 in the operation line may be a range in which the rod-shaped body 60 does not come into contact with the pulley portion 23 or the pulley portion 25 even if the operation line moves when the forceps device 1A is used.

When a hypotube is used as the rod-shaped body 60, a wire rope is inserted into the hollow portion of the hypotube, and the portion of the hypotube into which the wire rope is inserted is crimped from the outside to connect the hypotube and the wire rope. The operation line can be easily connected and manufactured. On the other hand, when a rod is used as the rod-shaped body 60, for example, the outer diameter of the rod is set to be the same as that of the wire rope, and the operation line can be manufactured by connecting the rod and the wire rope by welding or the like. .. In this case, the outer shape of the operation line can be reduced.

Next, the forceps device according to the second modification will be described. 11A and 11B are schematic configuration views of the forceps device according to the second modification, FIG. 11A is a top view thereof, FIG. 11B is a side view facing the Y-axis direction, and FIG. 11C is a side view thereof. , It is a side view from the X-axis direction. In the forceps device 1B according to the second embodiment, the pulley portion 63 is newly added in the forceps device 1, and the wire rope arrangement is changed accordingly. The same parts as those in the above-described embodiment are designated by the same reference numerals, and duplicate description will be omitted.

The pulley portion 63 has the same configuration as the pulley portion 25. In the forceps device 1B, in the newly provided pulley portion 63, the wire rope on the upper side of the pulley portion 25 is hung on the lower side, and the wire rope on the lower side of the pulley portion 25 is hung on the upper side. .. As a result, two systems of

wire ropes

20B and 20C are hung between the tip end side pulley 12 and the proximal end side pulley 41, and two systems of wires are hung between the distal end side pulley 13 and the proximal end side pulley 40. The

ropes

20A and 20D are hung.

According to the forceps device 1B, when the operation unit 6 is rotated upward, the operation unit 6 rotates about the rotation axis of the pulley unit 27. As a result, the two systems of

wire ropes

20A and 20C connected to the upper proximal end side pulley 40. 20D will loosen. Then, the distal end side pulley 12 connected to the

wire ropes

20B and 20C is pulled toward the proximal end side and moves, while the distal end side pulley 13 connected to the

wire ropes

20A and 20D moves in a direction away from the proximal end side. It will be. As a result, the tip portion 2 swings upward about the rotation axis of the pulley portion 21.

On the other hand, when the operation unit 6 is rotated downward, the tip portion 2 swings downward about the rotation axis of the pulley portion 21 due to the four

wire ropes

20A, 20B, 20C, and 20D.

Next, the forceps device according to the third modification will be described. 12A and 12B are schematic configuration views of a forceps device according to a third modification, FIG. 12A is a top view thereof, FIG. 12B is a side view facing the Y-axis direction, and FIG. 12C is a side view thereof. , It is a side view from the X-axis direction. In the forceps device 1C according to the third embodiment, the

pulley portions

23 and 25 are deleted in the forceps device 1, the number of parts can be reduced, the manufacturing cost of the forceps device can be reduced, and the weight can be reduced. It is possible to do. The same parts as those in the above-described embodiment are designated by the same reference numerals, and duplicate description will be omitted.

In the forceps device 1C, similarly to the forceps device 1, two systems of

wire ropes

20A and 20D are hung between the tip end side pulley 12 and the proximal end side pulley 40, and the distal end side pulley 13 and the proximal end side pulley are hung. Since two lines of

wire ropes

20B and 20C are hung between the

wire ropes

20B and 20C, the tip portion 2 operates in the same manner as the forceps device 1 by performing the same operation as the forceps device 1 on the operation portion 6. Can be made to.

Next, the forceps device according to the fourth modification will be described. 13A and 13B are schematic configuration views of the forceps device according to the fourth modification, FIG. 13A is a top view of the forceps device, and FIG. 13B is a side view of the forceps device facing the Y-axis direction. , (C) is a side view of the forceps device from the X-axis direction. The forceps device 1D according to the fourth modification is the forceps device 1 in which the proximal end side pulleys 40 and 41 are directly fixed to the operation shafts (42, 43) to transmit the driving force, and a plurality of gears are used. The driving force is transmitted through the device. The same parts as those of the forceps device according to the above-described embodiment are designated by the same reference numerals, and duplicate description will be omitted.

The forceps device 1D includes gears (base end side gears) 71A, 71B, 72A, 72B, 73A, 73B in the operation unit 6. The gear 71A can rotate integrally with the base end side pulley 40. The gear 71B can rotate integrally with the base end side pulley 41. The gear 73A is rotatably connected to the solid shaft 42 so as to be integrally rotatable. The gear 73B is rotatably connected to the hollow shaft 43 so as to be integrally rotatable. The gear 72A engages with the gear 71A and the gear 73A, and transmits the rotation of the gear 73A to the gear 71A. The gear 72B engages with the gear 71B and the gear 73B, and transmits the rotation of the gear 73B to the gear 71B.

In the forceps device 1D, when the finger hook 49 of the operation unit 6 is rotated, the base end side pulley 40 is rotated via the

gears

73A, 72A, and 71A, and when the finger hook 48 of the operation unit 6 is rotated, the gear 73B, The base end side pulley 41 rotates via 72B and 71B. Further, the forceps device 1D can rotate the operation unit 6 about the rotation axis of the pulley unit 27.

Therefore, according to the forceps device 1D, the tip portion 2 can be operated in the same manner by the same operation as the forceps device 1 according to the embodiment.

In the forceps device 1D, the portion of the operation unit 6 including the

gears

71A and 71B and the portion including the

gears

72A and 72B may be separable. By doing so, the configuration of the operation unit 6 including the

gears

72A and 72B can be changed to another configuration without changing the wire rope arrangement, and the operation unit can be changed according to the purpose. Can be done.

Next, the forceps device according to the fifth modification will be described. 14A and 14B are schematic configuration views of the forceps device according to the fifth modification, FIG. 14A is a top view of the forceps device, and FIG. 14B is a side view of the forceps device facing the Y-axis direction. , (C) is a side view of the forceps device from the X-axis direction. The forceps device 1E according to the fifth modification omits the

gears

72A and 72B in the forceps device 1D according to the fourth modification, and if the arrangement positions of the finger hooks 48 and 49 with respect to the operation shaft (42, 43) in the reference state are different. It was made. The same parts as those of the forceps device according to the above-described embodiment and the fourth embodiment are designated by the same reference numerals, and duplicate description will be omitted.

In the forceps device 1E, the gear 71A and the gear 73A are engaged with each other, and the gear 71B and the gear 73B are engaged with each other.

In this configuration, the rotation directions of the

gears

73A and 73B and the rotation directions of the

gears

71A and 71B are opposite to each other. Therefore, if the positions of the finger hooks 48 and 49 are the same as those of the forceps device 1D, the movements of the

end effectors

10 and 11 with respect to the operation of the finger hooks 48 and 49 are in the opposite direction. Therefore, in the forceps device 1E, the positions of the finger hooks 48 and 49 in the reference state are arranged so as to be on the proximal end side with respect to the operation axis (42, 43).

According to the forceps device 1E, when the finger rest 48 is rotated in the positive direction of the Y axis (rotated counterclockwise with respect to the control axis), the finger hook 48 is rotated in the positive direction of the Y axis (control) in the forceps device 1D. When the end effector 10 is rotated in the same manner as when it is rotated clockwise with respect to the axis, and the finger hook 49 is rotated in the negative direction of the Y axis (rotated clockwise with respect to the control axis), In the forceps device 1D, the end effector 11 rotates in the same manner as when the finger hook 49 is rotated in the positive direction of the Y axis (rotated counterclockwise with respect to the control axis).

Here, in the operation for the finger hooks 48 and 49, it is general that the user is not aware of the rotation direction with respect to the control axis but is aware of the movement direction on the Y axis. Therefore, as described above, when the

end effectors

10 and 11 are moved in the same direction on the Y axis, the user recognizes that the forceps device can be operated by the same operation. Become.

As described above, according to the forceps device 1E, the tip portion 2 can be operated in the same manner by the operation recognized by the user as the same as the forceps device 1D according to the fourth embodiment. Further, in the forceps device 1E, the number of gears can be reduced, the manufacturing cost can be reduced, and the weight can be reduced.

Next, the forceps device according to the sixth modification will be described. 15 is a schematic configuration diagram of the forceps device according to the sixth modification, FIG. 15A is a top view thereof, FIG. 15B is a side view facing the Y-axis direction, and FIG. 15C is a side view thereof. , It is a side view from the X-axis direction. The forceps device 1F according to the sixth modification is the forceps device 1 in which the

end effectors

10 and 11 are directly connected to the tip side pulleys 12 and 13 to operate the

end effectors

10 and 11. The driving force is transmitted to the

end effectors

10 and 11 via a plurality of gears on the 12 and 13 to operate the

end effectors

10 and 11. The same parts as those of the forceps device according to the above-described embodiment are designated by the same reference numerals, and duplicate description will be omitted.

Specifically, the tip portion 2 includes gears (tip side gears) 81A, 81B, 82A, 82B, 83A, 83B. The gear 83A can rotate integrally with the tip side pulley 12. The gear 83B can rotate integrally with the tip side pulley 13. An end effector 11 is connected to the gear 81A. An end effector 10 is connected to the gear 81B. The gear 82A engages with the gear 81A and the gear 83A, and transmits the rotation of the gear 83A to the gear 81A. The gear 82B engages with the gear 81B and the gear 83B, and transmits the rotation of the gear 83B to the gear 81B.

In this forceps device 1F, when the tip side pulley 12 is rotated, the end effector 11 is rotated via the

gears

83A, 82A, and 81A, and when the tip side pulley 13 is rotated, the

gears

83B, 82B, and The end effector 10 rotates via 81B. Further, in the forceps device 1F, the tip portion 2 is rotatable about the rotation axis of the pulley portion 21.

Therefore, according to the forceps device 1F, the tip portion 2 can be operated in the same manner by the same operation as the forceps device 1 according to the embodiment.

In the tip portion 2 of the forceps device 1F, the portion including the

gears

83A and 83B and the portion including the

gears

82A and 82B may be detachable. In this way, the tip side can be easily switched to another configuration without changing the wire rope arrangement.

Next, the forceps device according to the seventh modification will be described. 16A and 16B are schematic configuration views of a forceps device according to a seventh modification, FIG. 16A is a top view thereof, FIG. 16B is a side view facing the Y-axis direction, and FIG. 16C is a side view thereof. , It is a side view from the X-axis direction. The forceps device 1G according to the seventh modification omits the

gears

82A and 82B in the forceps device 1F according to the sixth modification, and if the arrangement positions of the finger hooks 48 and 49 with respect to the operation shaft (42, 43) in the reference state are different. It was made. The same parts as those in the above-described embodiment are designated by the same reference numerals, and duplicate description will be omitted.

Specifically, the gear 81A and the gear 83A are engaged with each other, and the gear 81B and the gear 83B are engaged with each other.

In this configuration, the rotation directions of the

gears

83A and 83B and the rotation directions of the

gears

81A and 81B are opposite to each other. Therefore, if the positions of the finger hooks 48 and 49 are the same as those of the forceps device 1F, the movements of the

end effectors

10 and 11 with respect to the operation of the finger hooks 48 and 49 are in the opposite direction. Therefore, in the forceps device 1G, the positions of the finger hooks 48 and 49 in the reference state are arranged so as to be on the proximal end side with respect to the operation axis (42, 43).

According to this forceps device 1G, when the finger hook 48 is rotated in the positive direction of the Y axis (rotated counterclockwise with respect to the control axis), the finger hook 48 is rotated in the positive direction of the Y axis in the forceps device 1D (rotation is performed in the positive direction of the Y axis). When the end effector 10 is rotated in the same manner as when it is rotated clockwise with respect to the control axis, and the finger hook 49 is rotated in the negative direction of the Y axis (rotated clockwise with respect to the control axis). In the forceps device 1D, the end effector 11 rotates in the same manner as when the finger hook 49 is rotated in the positive direction of the Y axis (rotated counterclockwise with respect to the control axis).

end effectors

As described above, according to the forceps device 1G, the tip portion 2 can be operated in the same manner by the operation recognized by the user as the same as the forceps device 1F according to the sixth embodiment. Further, in the forceps device 1G, the number of gears can be reduced, the manufacturing cost can be reduced, and the weight can be reduced.

Next, the forceps device according to the eighth modification will be described. 17 is a schematic configuration diagram of the forceps device according to the eighth modification, FIG. 17A is a top view thereof, FIG. 17B is a side view facing the Y-axis direction, and FIG. 17C is a side view thereof. , It is a side view from the X-axis direction. In the forceps device 1H according to the eighth modification, in the forceps device 1 according to the above embodiment, the pulley portion 25 is deleted, the operation portion 6 is provided with the pulley portion 91, the pulley portion 23 is deleted, and the tip thereof is deleted. The pulley portion 93 is provided in the portion 2. The same parts as those of the forceps device according to the above-described embodiment are designated by the same reference numerals, and duplicate description will be omitted.

The operation unit 6 includes a pulley unit 91. The pulley portion 91 includes pulleys 92A to 92D. The

wire ropes

20B and 20C on the upper side of the pulley portion 27 are hung on the base end side pulley 41 via the lower side of the pulley portion 91, and the

wire ropes

20A and 20D on the lower side of the pulley portion 27 are the pulley portion 91. It is hung on the base end side pulley 40 via the upper side of the above.

In the forceps device 1H, the operation unit 6 including the pulley unit 91 is rotatable about the rotation axis of the pulley unit 27.

The tip portion 2 includes a pulley portion 93. The pulley portion 93 includes pulleys 94A to 94D. The

wire ropes

20B and 20C on the upper side of the pulley portion 21 are hung on the tip side pulley 13 via the lower side of the pulley portion 91, and the

wire ropes

20A and 20D on the lower side of the pulley portion 21 are the

wire ropes

20A and 20D of the pulley portion 93. It is hung on the tip side pulley 12 via the upper side.

In the forceps device 1H, the tip portion 2 including the pulley portion 93 is rotatable about the rotation axis of the pulley portion 21.

Next, the vertical swing operation of the forceps device 1H will be described. FIG. 18 is a diagram illustrating the vertical swinging motion.

When the operation unit 6 is rotated upward in the forceps device 1H, the operation unit 6 rotates about the rotation axis of the pulley unit 27. As a result, the two

wire ropes

20B and 20C connected to the lower proximal end pulley 40 of the pulley portion 27 are pulled toward the proximal end side, while being connected to the upper proximal end side pulley 41 of the pulley portion 27. The two

wire ropes

20A and 20D will loosen. Then, the distal end side pulley 12 connected to the

wire ropes

20A, 20B, 20C, and 20D.

According to the forceps device 1H, the tip portion 2 can be operated in the vertical direction in response to the vertical operation by the operation unit 6.

The technique disclosed in the present specification is not limited to the above-described embodiments and modifications, and can be transformed into various forms without departing from the gist thereof. For example, the following modifications are also possible. Is.

For example, in the above-described embodiment or modification, an example is used in which four

wire ropes

20A, 20B, 20C, and 20D are separated from each other, that is, four wire ropes are used, but the present invention is not limited to this. Instead, for example, two wire ropes attached to each of the same base end side pulleys 40 and 41 may be configured as a ring-shaped wire rope. When a ring-shaped wire rope is used, the wire rope is used as the base end side pulley when the frictional resistance between the base end side pulleys 40 and 41 and the tip end side pulleys 12 and 13 and the wire rope is sufficient. It does not have to be fixed to the 40, 41 and the tip side pulleys 12, 13 by the fixing member.

The forceps device 1C in the third embodiment may be provided with one or more pulley portions between the pulley portions 21 and the pulley portions 27. In this case, the relationship between the direction of the vertical swing operation with respect to the operation unit 6 and the swing direction of the tip portion 2 can be changed by the number of pulley portions and the wiring of the wire rope to each pulley portion. can.

In the above-described embodiment or modification, the pulleys of the pulley portion in the intermediate portion 4 are independently rotatable about the center of the rotation axis, but the present invention is not limited to this, and at least a part of the pulleys can be rotated. It may be impossible. In this case, the groove portion of the pulley that does not rotate may be made of a member having a low frictional resistance in which the wire rope easily slides.

Although a wire rope was used as the operation line, a wire may be used instead of the wire rope, or an elastic string member may be used. In the second modification to the eighth modification, a part of the wire rope may be replaced with a rod-shaped body as shown in the first modification.

In the above-described embodiment or modification, the

end effectors

10 and 11 have a function of gripping an object, but the present invention is not limited to this, and the end effectors also have a function of cutting an object. good.

The rotation surface of the tip side pulley and the pulley portion provided on the rotation axis for rotating the tip side pulley in the vertical direction is configured to be vertical, but the present invention is not limited to this, and the rotation surfaces thereof are not limited to this. May be configured to intersect at any angle other than 90 degrees.

The rotation surface of the base end side pulley and the pulley portion provided on the rotation shaft for rotating the base end side pulley in the vertical direction is configured to be vertical, but the present invention is not limited to this, and these The rotating surfaces may be configured to intersect at any angle other than 90 degrees. The base end side pulleys 40 and 41 are provided with a driving force by operating the user's finger rest, but the present invention is not limited to this, and for example, even if the driving force is applied by an actuator such as a motor. good.

It should be noted that the present invention is not limited to the configuration of the above-described embodiment, but is indicated by the scope of claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims. Will be done.

1, 1A ~ 1H Forceps device 2 Tip 3 Connecting part 4 Intermediate part 5 Connecting part 6 Operation part 7 Tip side pulley fixing part 8 Shaft 9 Base end side

pulley fixing part

10, 11

End effector

12, 13

Tip side pulley

14, 15, 16, 17 Fixing member 20A to 20D Wire rope 21 Pulley part 22A to 22D Pulley 23 Pulley part 24A to 24D Pulley 25 Pulley part 26A to 26D Pulley 27 Pulley part 28A to

28D Pulley

40,41 Base end side pulley 42 Solid Shaft 43

Hollow shaft

44,45

Bearing

46,47,50,51

Key

48,49 Finger hook 60,60A-60D Rod-shaped body 61,61A-61D Wire rope 62,62A-62D Wire rope 63 Pulley part 64A-

64D Pulley

71, 71A, 71B, 72, 72A, 72B, 73, 73A, 73B gear (base end side gear)
81, 81A, 81B, 82, 82A, 82B, 83, 83A, 83B gear (tip side gear)
91 Pulley part 92A-92D Pulley 93 Pulley part 94A-94D Pulley

Claims

It ’s a forceps device,
It has two sandwiching portions that can pinch an object, and has a tip portion that can move up and down, open and close, and laterally.
Two base end side pulleys that can be driven independently by the power from the power source and have a common rotation axis,
A first pulley portion having a rotating surface that intersects with the rotating surface of the base end side pulley,
Two tip-side pulleys that can transmit the driving force to rotate each sandwiched portion of the tip portion and have a common rotation axis, and
A second pulley portion having a rotating surface that intersects with the rotating surface of the tip side pulley is provided.
The two base end side pulleys can move in the vertical direction around the rotation axis of the first pulley portion.
The two tip-side pulleys can move in the vertical direction around the rotation axis of the second pulley portion.
Two operation lines are hung on each of the base end side pulleys via the first pulley portion and the second pulley portion so that different tip end side pulleys can rotate in both directions. ,
When the base end side pulley is rotated, the tip end side pulley is rotated via the first pulley portion and the second pulley portion, and the sandwiching portion can be rotated.
When the two proximal pulleys are moved up and down with respect to the first pulley portion about the rotation axis, the operating lines connected to the two proximal pulleys via the operating lines The two tip-side pulleys connected to the base-end-side pulley are forceps devices capable of moving up and down by a predetermined angle or more around the rotation axis of the second pulley portion.
The angle formed by the rotating surface of the base end side pulley and the rotating surface of the first pulley portion is vertical.
The forceps device according to claim 1, wherein the angle formed by the rotating surface of the tip side pulley and the rotating surface of the second pulley portion is vertical.
The forceps device according to claim 1 or 2, wherein each of the distal end side pulleys is connected to each of the sandwiching portions.
Equipped with two finger hooks operated by the user's finger,
The forceps device according to any one of claims 1 to 3, wherein each of the proximal end side pulleys is connected to an operation shaft that can be rotated by the different finger hooks.
A tip side gear that can rotate integrally is connected to each of the tip side pulleys.
The forceps device according to claim 1, wherein the tip side pulley and the sandwiching portion are connected via the tip side gear.
Equipped with two finger hooks operated by the user's finger,
A base end gear that can rotate integrally is connected to each of the base end side pulleys.
The forceps device according to claim 1 or 5, wherein a driving force from a finger hook operated by a user's finger can be transmitted to the proximal end side pulley via the proximal end side gear.
The forceps device according to any one of claims 1 to 6, wherein the operation line is a part of a rod member between the first pulley portion and the second pulley portion.
A third pulley portion is provided near the tip end side of the first pulley portion, and a fourth pulley portion is provided near the proximal end side of the second pulley portion.
The forceps device according to any one of claims 1 to 7, wherein the operation line is hung on the third pulley portion and the fourth pulley portion.