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WO2018235151A1 - Système de manipulateur médical - Google Patents

Système de manipulateur médical Download PDF

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Publication number
WO2018235151A1
WO2018235151A1 PCT/JP2017/022634 JP2017022634W WO2018235151A1 WO 2018235151 A1 WO2018235151 A1 WO 2018235151A1 JP 2017022634 W JP2017022634 W JP 2017022634W WO 2018235151 A1 WO2018235151 A1 WO 2018235151A1
Authority
WO
WIPO (PCT)
Prior art keywords
insertion portion
end side
manipulator
distal end
outer tube
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/JP2017/022634
Other languages
English (en)
Japanese (ja)
Inventor
晃佑 野川
岸　宏亮
千里 唐澤
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.)
Olympus Corp
Original Assignee
Olympus Corp
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 Olympus Corp filed Critical Olympus Corp
Priority to PCT/JP2017/022634 priority Critical patent/WO2018235151A1/fr
Publication of WO2018235151A1 publication Critical patent/WO2018235151A1/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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present invention relates to a medical manipulator system.
  • a medical manipulator system including a motorized manipulator inserted into the body to treat an affected area, the manipulator is detachably provided to a power source for supplying power to the manipulator, and the entire power source including the detaching portion of the manipulator is thin film
  • a medical manipulator system is known which prevents contamination of a power source by body fluid or the like by covering the cover with a sterile cover (see, for example, Patent Document 1).
  • One aspect of the present invention is a manipulator having a treatment section at the tip and a long insertion section where the tip section is inserted into the body, and a drive section disposed at the base end of the insertion section and driving the treatment section.
  • a power source provided with a manipulator attaching / detaching portion for detachably attaching the driving portion of the manipulator and supplying power to the driving portion; and the insertion between the driving portion and the tip portion inserted into the body
  • an outer tube disposed outside the body, and a seal sealing a fluid-tight state between the insertion portion and the proximal open side of the outer tube covering the insertion portion of the manipulator.
  • a medical manipulator system is provided, wherein a means is provided and the sheath tube is removably attached to the power source.
  • the drive unit provided to the manipulator to the manipulator attachment / detachment unit provided to the power source
  • power is supplied from the power source to the drive unit and disposed at the tip of the insertion unit of the manipulator
  • the treatment section to treat the target site in the body.
  • the sterilization cover is not pinched between the drive part of the manipulator and the manipulator attachment / detachment part of the power source, it is possible to prevent entrapment or breakage of the sterilization cover when power is supplied from the power source.
  • the outer peripheral surface of the insertion portion disposed outside the body between the distal end portion of the insertion portion disposed in the insertion state in the body and the drive portion disposed on the proximal end side of the insertion portion is covered by the outer tube.
  • the sealing means is provided on the opening side of the proximal end side of the mantle tube passing through the insertion portion, it is possible to prevent the liquid such as body fluid from leaking to the drive portion side from the internal space of the mantle tube. .
  • the outer peripheral surface of the outer tube that is not inserted into the body is maintained in a clean state, so the distal end portion to which the body fluid etc. adheres and the drive portion disposed on the proximal end side of the insertion portion It can be isolated to prevent the body fluid and the like from adhering to the drive unit.
  • the manipulator attachment / detachment unit includes a moving mechanism for moving the drive unit of the attached manipulator in the direction along the longitudinal axis of the insertion unit
  • the sealing means includes the outer tube and the insertion unit And movably sealed in the longitudinal direction of the insertion portion.
  • the sealing means permits longitudinal movement of the insert relative to the mantle, movement by the movement mechanism is not impeded, and the seal between the mantle and the insertion at the proximal opening is maintained.
  • the motive power source can be maintained in a clean state by preventing the liquid such as body fluid from dripping to the motive power source side when the insertion portion advances and retreats.
  • movement of the insertion portion in a direction to extract the insertion portion from the proximal end opening at a predetermined relative position between the insertion portion and the outer tube at a predetermined relative position is performed.
  • the sealing means may be a wiper member which is provided on the inner surface of the outer sleeve and wipes or handles the outer surface of the insertion portion. In this way, when the insertion portion is pulled out from the proximal end opening of the outer tube, the outer surface of the insertion portion of the manipulator is wiped or handled by the wiper member, so that the body fluid etc. It is possible to prevent the liquid from dripping to the power source side.
  • the distal end side outer tube covering the insertion portion from the distal end portion to the portion disposed outside the body is provided, and the distal end side outer tube and the distal end side open tube are provided in the proximal end opening of the distal end side outer tube.
  • a distal side sealing means may be provided to seal the space between the insertion portion and the liquid tight.
  • the insertion portion is covered with the distal end side cannula from the distal end portion disposed in the body to the portion disposed outside the external body, and the distal end side opening means is also provided in the proximal end opening of the distal end side cannula. Since the fluid such as body fluid can not easily reach the outer tube. Thereby, the power source can be maintained in a clean state more effectively.
  • the distal end side sealing means includes two seal members for sealing the entire circumference between the distal end side outer tube and the insertion portion at intervals in the longitudinal direction of the insertion portion.
  • a cylinder is provided with a through hole for opening the space formed between the seal members outward in the radial direction of the tip end side outer tube, and a cylinder disposed over the entire circumference with an interval in the radial direction outward of the through hole.
  • a closed part that covers the entire circumference between the cylindrical part and the distal end side outer peripheral tube on the proximal end side in the longitudinal direction of the insertion part with respect to the through hole.
  • the sealed state on the proximal side with respect to the seal member on the proximal side is maintained, and the liquid is prevented from being jetted to the proximal side from the seal member on the proximal side.
  • the liquid discharged radially outward from the through hole is completely between the cylindrical portion and the tip end outer ring tube at the proximal end side of the cylindrical portion disposed radially outward of the through hole and the through hole.
  • a circumferentially occluding blockage prevents flow radially and proximally, and is expelled back toward the distal side. Thereby, the power source can be maintained in a clean state more effectively.
  • the present invention it is possible to prevent contamination of the power source due to body fluid or the like without requiring a sterile cover for covering the power source.
  • FIG. 1 It is a whole block diagram which shows the medical manipulator system which concerns on one Embodiment of this invention.
  • the medical manipulator system of FIG. 1 it is a figure which shows the state which removed the manipulator and the mantle tube from the motive power source.
  • the medical manipulator system 1 includes a manipulator 3 having a long insertion portion 2 inserted into the body, and a power source 4 for supplying power to the manipulator 3. And an outer tube 5 for covering the insertion portion 2.
  • the manipulator 3 includes a treatment unit 6 for treating an affected part at the tip of the insertion unit 2 and a drive unit 7 for driving the treatment unit 6 at the proximal end.
  • the drive unit 7 and the treatment unit 6 are disposed along the longitudinal direction in the insertion unit 2 and are connected by one or more wires (not shown) for transmitting the driving force of the drive unit 7 to the treatment unit 6.
  • the power source 4 includes a base 8, and an upper surface of the base 8 includes an attachment / detachment part (a manipulator attachment / detachment part) 9 for detachably attaching the drive part 7 of the manipulator 3.
  • the power source 4 includes a moving mechanism 10 that moves the detachable unit 9 to which the drive unit 7 of the manipulator 3 is attached in the direction along the longitudinal axis of the insertion unit 2.
  • the moving mechanism 10 includes a guide rail (not shown) and a slider movable along the guide rail, and linearly moves the detachable portion 9.
  • the attachment / detachment unit 9 transmits, to the drive unit 7, motive power from a motor (not shown) provided in the power source 4.
  • the sheath tube 5 has a tubular member 11 for covering a part of the insertion portion 2 in the longitudinal direction, and a mounting portion for detachably attaching the proximal end of the tubular member 11 to the base 8. It has 12 and.
  • the outer tube 5 is a sealing member for sealing the space between the insertion portion 2 and the proximal end side opening 5 a into which the insertion portion 2 at the proximal end is inserted.
  • (Sealing means) 13 is provided.
  • the sealing member 13 seals the fluid-tight state between the two while allowing the longitudinal movement of the insertion portion 2 with respect to the sheath tube 5. For example, the oil seal or the outer surface of the insertion portion 2 is wiped or handled. Wiper member.
  • the insertion portion 2 of the manipulator 3 is penetrated through the outer tube 5 and the distal end side opening 5 b of the outer tube 5
  • the distal end side of the insertion portion 2 is made to project from the above
  • the proximal end side of the insertion portion 2 is made to project from the proximal end side opening 5 a of the outer tube 5.
  • the insertion portion 2 exposed in front of the outer tube 5 is inserted into the body from the treatment portion 6 side, and the treatment portion 6 is disposed in the vicinity of the affected area under endoscopic observation.
  • the drive unit 7 provided at the base end of the insertion unit 2 exposed to the base end side of the sheath tube 5 is attached to the detachable unit 9 provided at the base 8 of the power source 4 .
  • the mounting portion 12 provided at the proximal end of the outer tube 5 is attached to the base 8.
  • the insertion portion 2 is moved in the longitudinal direction, and the position of the treatment portion 6 is adjusted.
  • the sheath tube 5 is fixed to the base 8
  • the insertion portion 2 is moved relative to the sheath tube 5, but the insertion portion is made by the seal member 13 provided in the proximal end opening 5 a of the sheath tube 5
  • the gap between 2 and the jacket tube 5 is maintained in a liquid tight state.
  • the affected part can be treated by operating the motor of the power source 4 to operate the drive unit 7 and operating the treatment unit 6 at the tip of the insertion unit 2 through the wire.
  • the distal end side portion of the insertion portion 2 inserted into the body is disposed at a position apart from the detachable portion 9 to which the drive portion 7 is attached. , It is isolated by the sheath tube 5 arranged between, so that even if fluid such as a patient's body fluid flows along the insertion part 2, it is blocked by the sheath tube 5 to prevent adhesion to the power source 4 it can.
  • the insertion portion 2 is movably sealed in a liquid-tight state with respect to the outer tube 5 by the sealing member 13, even if the insertion portion 2 is moved in the longitudinal direction by the movement of the detachable portion 9 The dense state is maintained, and it is possible to prevent the fluid such as the body fluid from reaching the proximal power source 4 beyond the mantle tube 5.
  • the drive unit 7 is removed from the mounting / removal unit 9 and the mounting unit 12 is removed from the base 8, the insertion unit 2 is pulled out of the body to integrate the manipulator 3 and the outer tube 5. It can be separated from the power source 4 and moved to a location away from the power source 4 to separate the manipulator 3 and the sheath tube 5 from each other. Thereby, the power source 4 can be more reliably prevented from being contaminated by a liquid such as a patient's body fluid.
  • the tip end of the sheath tube 5 may further include a tip side sheath tube 14 that is detachably attached.
  • the distal end side opening 14 a of the distal end side outer tube 14 may further include a distal end side sealing means 15.
  • two sealing members 16 and 17 for sealing the entire circumference between the distal side outer tube 14 and the insertion portion 2 are provided at intervals in the longitudinal direction.
  • An example is provided that includes a cylindrical portion 19 to be disposed, and a closed portion 20 that closes the entire circumference between the cylindrical portion 19 and the distal end side outer tube 14 on the proximal end side in the longitudinal direction than the through hole 18 can do.
  • the space in a body cavity may be expanded and a treatment may be performed by pressurizing and expanding a body cavity.
  • a treatment may be performed by pressurizing and expanding a body cavity.
  • the liquid when the pressure is excessively increased, the liquid may be ejected to the proximal end side more than the seal member 16 on the distal end side provided on the proximal end portion of the distal end side outer sleeve 14. Even in such a case, the body fluid beyond the seal member 16 on the tip side is accommodated in the space between the two seal members 16 and 17 as shown by the arrow in FIG.
  • the cylindrical portion 19 and the blocking portion 20 which flow radially outward but are disposed radially outward of the through hole 18 prevent ejection to the proximal end side, and return to the distal end side.
  • the distal end side outer tube 14 is detachably attached to the tip of the outer tube 5, when the insertion portion 2 of the manipulator 3 is pulled out from the body, the distal side outer tube 14 is separated from the outer tube 5 and the distal side outer tube 14 is a body cavity , And the assembly of the manipulator 3 and the outer tube 5 may be removed.
  • the front end side outer tube 14 was removably attached to the front end of the outer tube 5, it is not limited to this, and the front end side outer tube 14 is disposed without connecting with the outer tube 5,
  • the cannula 14 may be fixed to the patient's body or to an external structure near the patient's back and forth.
  • baffles are disposed in the through hole 18 to configure a labyrinth structure , And may reduce the force of fluid such as body fluid flowing out.
  • the insertion portion 2 is allowed to be inserted into the proximal end opening 5 a of the outer tube 5 between the outer tube 5 and the insertion portion 2 which are relatively moved, and the insertion portion 2 in the inserted state is the outer tube 5
  • a stopper 21 may be provided to prevent withdrawal from the proximal end opening 5a.
  • an inner flange-like flange portion 23 disposed on the proximal end side of the seal member 13 of the outer tube 5 and having a key groove 22 in a part in the circumferential direction And a projection 24 provided in a part of the longitudinal direction 2 and capable of penetrating the key groove 22 can be mentioned.
  • the insertion portion 2 When the outer tube 5 is attached to the insertion portion 2, the insertion portion 2 is inserted into the outer tube 5 in a state where the projection 24 is aligned with the key groove 22 and the projection 24 extends beyond the flange portion 23 at the tip end. Is rotated about its longitudinal axis by a predetermined angle. As a result, even if the insertion portion 2 is retracted with respect to the sheath tube 5, the projection 24 abuts on the flange portion 23, so that it is possible to reliably prevent further withdrawal. And thereby, the insertion part 2 is extracted unexpectedly from the sheath tube 5, and it has an advantage that it can prevent more reliably that the power source 4 is contaminated.
  • the insertion portion 2 may be a flexible insertion portion having flexibility, or may be a rigid insertion portion having no flexibility.
  • the middle position in the longitudinal direction can be slackened vertically downward, and the shape can prevent the liquid such as body fluid from moving further to the proximal end side. .
  • an adhesive (sealing means) is used. It may be fixed in a liquid tight state. Further, even in the case where the sheath tube 5 and the manipulator 3 are mounted so as to be able to move relative to each other, as shown in FIG. 8, by providing the expansion and contraction part 25 like a bellows, the sheath tube 5 is used as an adhesive It may be fixed in a liquid tight state by adhesion or the like (sealing means: not shown).

Landscapes

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

Abstract

Afin d'empêcher une source d'alimentation d'être contaminée par un fluide corporel ou similaire sans avoir besoin d'un couvercle stérile pour recouvrir la source d'alimentation, le système de manipulateur médical (1) selon la présente invention est pourvu : d'un manipulateur (3) pourvu d'une partie insertion allongée (2) équipée d'une partie traitement (6) au niveau de l'extrémité distale, la partie extrémité distale étant insérée dans un corps, et d'une partie entraînement (7) qui est disposée à l'extrémité proximale de la partie insertion (2) et entraîne la partie traitement (6) ; d'une source d'alimentation (4) pourvue d'une partie fixation de manipulateur (9) à laquelle la partie entraînement (7) du manipulateur (3) est attachée de manière amovible et qui fournit de l'énergie à la partie entraînement (7) ; et d'un tube de revêtement (5) destiné à être disposé à l'extérieur du corps, pour recouvrir une partie de la partie insertion (2) entre la partie entraînement (7) et la partie extrémité distale qui est insérée dans le corps. Le tube de revêtement (5) recouvrant la partie insertion (2) du manipulateur (3) est disposé sur le côté d'ouverture proximale (5a) avec un moyen d'étanchéité pour sceller de manière étanche au liquide le tube de revêtement à la partie insertion (2). Le tube de revêtement (5) est fixé de manière amovible à la source d'alimentation (4).
PCT/JP2017/022634 2017-06-20 2017-06-20 Système de manipulateur médical Ceased WO2018235151A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/022634 WO2018235151A1 (fr) 2017-06-20 2017-06-20 Système de manipulateur médical

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/022634 WO2018235151A1 (fr) 2017-06-20 2017-06-20 Système de manipulateur médical

Publications (1)

Publication Number Publication Date
WO2018235151A1 true WO2018235151A1 (fr) 2018-12-27

Family

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PCT/JP2017/022634 Ceased WO2018235151A1 (fr) 2017-06-20 2017-06-20 Système de manipulateur médical

Country Status (1)

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WO (1) WO2018235151A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2023105675A1 (fr) * 2021-12-08 2023-06-15

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000510362A (ja) * 1996-05-03 2000-08-15 エス． グリーン、フィリップ 内視鏡的画像法と内視鏡手術のためのシステム及び方法
JP2009520573A (ja) * 2005-12-20 2009-05-28 インテュイティブ サージカル インコーポレイテッド ロボット手術システムの機器インターフェース
JP2010069003A (ja) * 2008-09-18 2010-04-02 Olympus Medical Systems Corp 医療用進退量規制機構と医療用進退量規制方法
JP2010137038A (ja) * 2008-01-30 2010-06-24 Tyco Healthcare Group Lp 球状弁を有するアクセスアセンブリ
US20130211423A1 (en) * 2012-02-15 2013-08-15 Intuitive Surgical Operations, Inc. Low friction cannula seals for minimally invasive robotic surgery
WO2014157474A1 (fr) * 2013-03-29 2014-10-02 富士フイルム株式会社 Dispositif chirurgical, trocart externe, endoscope et instrument de traitement
JP2015535436A (ja) * 2012-12-26 2015-12-14 オリンパス株式会社 外套管
JP2016505316A (ja) * 2012-12-20 2016-02-25 アバテラメディカル、ゲゼルシャフト、ミット、ベシュレンクテル、ハフツングＡｖａｔｅｒａｍｅｄｉｃａｌ Ｇｍｂｈ 外科手術用器具のアクティブ位置決め装置及びこれを備えたロボット手術システム

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000510362A (ja) * 1996-05-03 2000-08-15 エス． グリーン、フィリップ 内視鏡的画像法と内視鏡手術のためのシステム及び方法
JP2009520573A (ja) * 2005-12-20 2009-05-28 インテュイティブ サージカル インコーポレイテッド ロボット手術システムの機器インターフェース
JP2010137038A (ja) * 2008-01-30 2010-06-24 Tyco Healthcare Group Lp 球状弁を有するアクセスアセンブリ
JP2010069003A (ja) * 2008-09-18 2010-04-02 Olympus Medical Systems Corp 医療用進退量規制機構と医療用進退量規制方法
US20130211423A1 (en) * 2012-02-15 2013-08-15 Intuitive Surgical Operations, Inc. Low friction cannula seals for minimally invasive robotic surgery
JP2016505316A (ja) * 2012-12-20 2016-02-25 アバテラメディカル、ゲゼルシャフト、ミット、ベシュレンクテル、ハフツングＡｖａｔｅｒａｍｅｄｉｃａｌ Ｇｍｂｈ 外科手術用器具のアクティブ位置決め装置及びこれを備えたロボット手術システム
JP2015535436A (ja) * 2012-12-26 2015-12-14 オリンパス株式会社 外套管
WO2014157474A1 (fr) * 2013-03-29 2014-10-02 富士フイルム株式会社 Dispositif chirurgical, trocart externe, endoscope et instrument de traitement

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2023105675A1 (fr) * 2021-12-08 2023-06-15
WO2023105675A1 (fr) * 2021-12-08 2023-06-15 リバーフィールド株式会社 Champ opératoire
JP7381159B2 (ja) 2021-12-08 2023-11-15 リバーフィールド株式会社 ドレープ
CN118103000A (zh) * 2021-12-08 2024-05-28 瑞德医疗机器股份有限公司 包覆罩

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