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WO2016063851A1 - Pince - Google Patents

Pince Download PDF

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Publication number
WO2016063851A1
WO2016063851A1 PCT/JP2015/079520 JP2015079520W WO2016063851A1 WO 2016063851 A1 WO2016063851 A1 WO 2016063851A1 JP 2015079520 W JP2015079520 W JP 2015079520W WO 2016063851 A1 WO2016063851 A1 WO 2016063851A1
Authority
WO
WIPO (PCT)
Prior art keywords
piece
pieces
linear motion
advance
end side
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/079520
Other languages
English (en)
Japanese (ja)
Inventor
徳和 佐藤
全弘 斎藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Namiki Precision Jewel Co Ltd
Original Assignee
Namiki Precision Jewel Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Namiki Precision Jewel Co Ltd filed Critical Namiki Precision Jewel Co Ltd
Priority to JP2016555222A priority Critical patent/JPWO2016063851A1/ja
Publication of WO2016063851A1 publication Critical patent/WO2016063851A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps

Definitions

  • the present invention relates to a pinching device that can be used for pinching medical tools, organs, and the like, and pinching organs at a medical site.
  • Patent Document 1 a plurality of clip pieces (gripping members 1 and 2) that open and close by rotating around a rotation fulcrum portion and the clip A cylindrical member (fixed tube 10) supporting the rotating fulcrum portion so that the front end side of the piece (gripping members 1, 2) protrudes forward, and the cylindrical member (fixed tube 10) is inserted.
  • a medical forceps provided with a plurality of wires (W) and configured to rotate the pinching pieces (gripping members 1, 2) by pulling the wire (W) to one or the other.
  • the present invention has been made in view of the above-described conventional circumstances, and a problem to be solved by the present invention is to provide a pinching device that can improve operability and controllability.
  • the pivot fulcrum is configured such that a plurality of clip pieces that open and close by rotating with the pivot fulcrum portion as a fulcrum and the front end side of the clip piece project forward.
  • a cylindrical member that supports the portion, and an advancing / retracting mechanism that moves the linearly moving member back and forth within the cylindrical member, and the linearly moving member that is advanced and retracted by the advancing / retracting mechanism is engaged with the clamping piece,
  • a plurality of the advancing / retreating mechanisms corresponding to the plurality of the clamping pieces, and the advancing / retreating mechanisms are arranged on the rear side of the clamping pieces,
  • the plurality of advance / retreat mechanisms are independently controlled.
  • the first feature of the present embodiment is that a plurality of sandwiching pieces that are opened and closed by pivoting about a pivoting fulcrum part, and the pivoting fulcrum part projecting forward from the front end side of the sandwiching piece.
  • a pinch device configured to rotate, comprising a plurality of the advancing and retracting mechanisms so as to correspond to the plurality of pinching pieces, respectively, and linearly arranging the respective advancing and retracting mechanisms on the rear side of the pinching pieces.
  • the “clamping device” includes a mode in which an object is held on the front end side of the plurality of clip pieces, a mode in which an object is clipped on the front end side of the plurality of clip pieces, and the like. .
  • the durability and the operation performance are not deteriorated due to the elongation, slackness, strength, etc. of the wire as in the prior art. It can be operated.
  • the sandwiching piece has a shaft hole through which the rotation fulcrum portion is inserted on the rear end side, and a tube is formed from the shaft hole.
  • the engagement member elongated in a direction approaching and separating from the shaft hole at a position away from the radial direction of the cylindrical member, and the linear motion member engages with the engagement hole and An engagement shaft for rotating the clip piece is provided.
  • each clip piece is supported by the common rotation fulcrum, and each clip piece extends so as to protrude forward.
  • the pinching device 1 includes a plurality of pinching pieces 10 that are opened and closed by turning around a turning fulcrum portion, and a tube that supports the turning fulcrum portion 21 so that the front end side of the pinching piece 10 protrudes forward.
  • a linear member 31 and an advancing / retracting mechanism 30 for advancing / retreating the linear motion member 31 in the cylindrical member 20. Is configured to rotate.
  • Two sandwich pieces 10 are provided so as to overlap in a direction orthogonal to the center of the cylindrical member 20. These two pinching pieces 10 and 10 are rotatably supported by a common rotation fulcrum 21 (shaft member) inserted through the rear end side.
  • the two sandwiching pieces 10 and 10 constitute forceps capable of sandwiching an object.
  • the two sandwiching pieces 10 and 10 rotate so as to bring the sandwiching surfaces 11 and 11 on the front end side closer to each other, and perform a closing operation. , 11 are rotated so as to be spaced apart from each other and open (see FIG. 1).
  • each sandwich piece 10 includes a projecting piece portion 10a extending so as to protrude forward, and a base piece portion 10b bent in a substantially orthogonal direction on the rear end side of the projecting piece portion 10a.
  • a shaft hole 15 through which the rotation fulcrum portion 21 is inserted is provided at a position near the center of the cylindrical member 20 in the clip piece 10b.
  • the pinching piece 10b at a position away from the shaft hole 15 in the radially outward direction of the cylindrical member 20 (rightward according to FIG. 2), the object is long in the direction of approaching and separating from the shaft hole 15.
  • An engagement hole 16 is provided.
  • the sandwiching pieces 10 and 10 on both sides are rotatably supported by a common rotation fulcrum part 21 with the base piece part 10b on the rear end side overlapped (see FIG. 1).
  • the cylindrical member 20 is a long cylindrical member, and has support piece portions 20a protruding forward on both sides in the radial direction on the front end side thereof, and rotates between the support piece portions 20a on both sides.
  • the fulcrum part 21 is supported.
  • the cylindrical member 20 houses the advance / retreat mechanism 30, the power supply wiring of the advance / retreat mechanism 30, the control board, and the like.
  • the cylindrical member 20 of the illustrated example improves the maintainability with respect to the internal advance / retreat mechanism 30 and the like by providing the notch portion 25 in a part of the peripheral wall, as another example, the notch portion 25 is provided. May be omitted.
  • the advance / retreat mechanism 30 is a mechanism in which the linear motion member 31 is advanced and retracted by the rotation drive source 33.
  • a plurality (two in the illustrated example) of the advance / retreat mechanism 30 is provided corresponding to each of the plurality of clip pieces 10.
  • Each advance / retreat mechanism 30 is linearly arranged on the rear side of the corresponding clip piece 10.
  • the plurality of advance / retreat mechanisms 30 are independently controlled by a control circuit (not shown).
  • Rotational drive source 33 is an electric gear motor, and for example, the rotational force of the motor may be adjusted to an appropriate rotational speed with a planetary gear and output.
  • a feed screw 32 is provided on the front end side of the output shaft in the rotational drive source, and a linear motion member 31 is screwed into the feed screw 32.
  • the linear motion member 31 has a female screw (not shown) screwed into the feed screw 32 therein.
  • the linear motion member 31 is engaged with the tubular member 20 so as not to rotate but to advance and retreat.
  • the outer peripheral portion of the linear motion member 31 is formed in a prismatic shape, and the inner surface of the cylindrical member 20 is fitted to the outer peripheral portion of the linear motion member 31 to guide the outer peripheral portion in the front-rear direction.
  • a mode in which a convex portion is provided on one of the outer peripheral portion of the linear motion member 31 and the inner peripheral portion of the cylindrical member 20 and a groove for guiding the convex portion in the front-rear direction is provided on the other side. That's fine.
  • the front end side of the linear motion member 31 is formed in a bifurcated shape sandwiching the rear end side portion of the sandwiching piece 10 (see FIG. 1), and the bifurcated portion is engaged so as to be orthogonal to the center line of the tubular member 20.
  • the shaft 34 is fixed.
  • the engaging shaft 34 is inserted into the engaged hole 16 (see FIG. 2) of the sandwiching piece 10, and moves forward to rotate the sandwiching piece 10 in the closing direction (see FIG. 4) and retreat. Then, the pinching piece 10 is rotated in the opening direction.
  • a state in which both sandwiching pieces 10 and 10 are closed is an initial state.
  • the engagement shaft 34 on the rear end side of the clip piece 10 rotates rearward.
  • the front end of is open.
  • the linear motion members 31 and 31 are advanced by both the advancing and retracting mechanisms 30 and 30, the front end sides of the sandwiching pieces 10 and 10 are closed by the reverse operation to the above ( 4), the object A can be held between the holding surfaces 11 and 11.
  • the front end side of the clip pieces 10, 10 can be moved to one side while maintaining the closed state of the clip pieces 10, 10.
  • the movement of all patterns such as closing the clip pieces 10, 10 in the closed state to the opposite side or rotating only one clip piece 10 is possible. Is possible.
  • the responsiveness of the clip 10 is better than that of the conventional technique using a wire, and the output can be easily increased by selecting the rotation drive source 33.
  • the advancing / retreating mechanism 30 is arranged linearly on the rear side of each clip piece 10, a relatively thin and small configuration can be achieved. Therefore, it is possible to provide a compact pinching device 1 with good operability and controllability.
  • forceps was comprised by the two pinching pieces 10 and 10, but as another example, a blade is provided in each pinching piece 10 and an object is formed by the two pinching pieces 10 and 10. It is also possible to configure scissors that cut the squeeze or to open and close three or more sandwich pieces 10.
  • the electric motor and the feed screw 32 were used as the advancing / retreating mechanism 30, as an other example of the advancing / retreating mechanism 30, an air motor, a hydraulic motor, and another rotary motor can also be used. It is. Further, as another example of the advance / retreat mechanism 30, it is possible to adopt a structure in which the linear motion member 31 is directly advanced and retracted by a linear motion such as a vibration type linear motion mechanism or a linear drive source of an electromagnetic solenoid.
  • a rotation mechanism may be arranged immediately behind the pinching device 1 of the above embodiment so that the pinching device 1 itself can be driven to rotate. In the case of such a configuration, the degree of freedom and the movable range of the pinching device 1 can be expanded.
  • the pinching device of the present invention clamps a medical tool, an organ, or the like in a manipulator, a forceps device, a cell manipulation manipulator, various inspection devices, etc., particularly in a surgical support robot used in an advanced medical field. It is useful for. Moreover, even if it is other than a medical related use, it can be used conveniently also for various micromanipulators which need to operate and process a minute target object precisely in a limited space.
  • Clipping device 10 Clipping piece 10a: Projection piece 10b: Base piece 15: Shaft hole 16: Engaged hole 20: Cylindrical member 21: Rotating fulcrum 30: Advance / retreat mechanism 31: Linear motion member 32: Feed screw 33: Rotation drive source 34: Engagement shaft A: Object

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Ophthalmology & Optometry (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un pince, qui comprend une pluralité de parties de pince (10) qui s'ouvrent et se ferment en tournant grâce à une partie pivot (21) servant de point d'appui desdites parties de pince, un élément tubulaire (20) qui soutient la partie pivot (21) de telle sorte que les côtés d'extrémité avant des parties de pince (10) font saillie vers l'avant, et des mécanismes d'extension/rétractation (30) qui amènent des éléments de mouvement linéaire (31) à s'étendre et se rétracter dans l'élément tubulaire (20), et dans lesquels les éléments de mouvement linéaire (31) qui s'étendent et se rétractent par les mécanismes d'extension/rétractation (30) sont mis en prise avec les parties de pince (10), en tournant ainsi les parties de pince (10). Une pluralité de mécanismes d'extension/rétractation (30) sont fournis pour correspondre respectivement à la pluralité de parties de pince (10). Chacun des mécanismes d'extension/rétractation (30) est positionné de façon linéaire sur le côté arrière de chacune des parties de pince (10). Chacun de la pluralité de mécanismes d'extension/rétractation (30) est commandé indépendamment.
PCT/JP2015/079520 2014-10-21 2015-10-20 Pince Ceased WO2016063851A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2016555222A JPWO2016063851A1 (ja) 2014-10-21 2015-10-20 挟み装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014-214481 2014-10-21
JP2014214481 2014-10-21

Publications (1)

Publication Number Publication Date
WO2016063851A1 true WO2016063851A1 (fr) 2016-04-28

Family

ID=55760885

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/079520 Ceased WO2016063851A1 (fr) 2014-10-21 2015-10-20 Pince

Country Status (2)

Country Link
JP (1) JPWO2016063851A1 (fr)
WO (1) WO2016063851A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050075631A1 (en) * 2002-04-09 2005-04-07 Pentax Corporation Bipolar hemostatic forceps for an endoscope
WO2005055840A1 (fr) * 2003-12-15 2005-06-23 Thk Co., Ltd. Manipulateur a degres de libertes multiples
JP2005319164A (ja) * 2004-05-11 2005-11-17 Olympus Corp 内視鏡用処置具
US20120172924A1 (en) * 2010-12-30 2012-07-05 Tyco Healthcare Group Lp Combined Unilateral/Bilateral Jaws on a Surgical Instrument
JP2015065989A (ja) * 2013-09-26 2015-04-13 株式会社産業情報総合研究所 把持器、持針器及びアタッチメント

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050075631A1 (en) * 2002-04-09 2005-04-07 Pentax Corporation Bipolar hemostatic forceps for an endoscope
WO2005055840A1 (fr) * 2003-12-15 2005-06-23 Thk Co., Ltd. Manipulateur a degres de libertes multiples
JP2005319164A (ja) * 2004-05-11 2005-11-17 Olympus Corp 内視鏡用処置具
US20120172924A1 (en) * 2010-12-30 2012-07-05 Tyco Healthcare Group Lp Combined Unilateral/Bilateral Jaws on a Surgical Instrument
JP2015065989A (ja) * 2013-09-26 2015-04-13 株式会社産業情報総合研究所 把持器、持針器及びアタッチメント

Also Published As

Publication number Publication date
JPWO2016063851A1 (ja) 2017-07-27

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