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WO2025204841A1 - Dispositif de ligature - Google Patents

Dispositif de ligature

Info

Publication number
WO2025204841A1
WO2025204841A1 PCT/JP2025/008974 JP2025008974W WO2025204841A1 WO 2025204841 A1 WO2025204841 A1 WO 2025204841A1 JP 2025008974 W JP2025008974 W JP 2025008974W WO 2025204841 A1 WO2025204841 A1 WO 2025204841A1
Authority
WO
WIPO (PCT)
Prior art keywords
rod
jaw
notch
hole
ligation
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.)
Pending
Application number
PCT/JP2025/008974
Other languages
English (en)
Japanese (ja)
Inventor
純慈 山野
直勝 大澤
竜太 飯島
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.)
Brother Industries Ltd
Original Assignee
Brother Industries 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 Brother Industries Ltd filed Critical Brother Industries Ltd
Publication of WO2025204841A1 publication Critical patent/WO2025204841A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord

Definitions

  • Patent Document 1 discloses a suture retriever.
  • the suture retriever has a concentric rod that is movable axially relative to a cannula. An edge hook is formed on the concentric rod.
  • the suture retriever engages the suture with the edge hook while the tip of the concentric rod is exposed from the cannula.
  • the suture retriever holds the suture between the cannula and the concentric rod by moving the concentric rod toward the base end with the suture engaged with the edge hook. When the suture retriever moves in this state, the suture held between the cannula and the concentric rod also moves.
  • the concentric rod protrudes further distally than the edge hook.
  • the length of the concentric rod distal to the edge hook is longer than when the edge hook is attached directly to the tip of the concentric rod.
  • the concentric rod configuration is used as a gripping member that grips the suture and pulls it toward the base end during the ligation process, the length of the gripping member distal to the edge hook will also be longer than when the edge hook is attached directly to the tip of the gripping member.
  • a shorter length of the gripping member is preferable.
  • the gripping member of the ligation device grips the suture using the first notch in the first rod and the second notch in the second rod. Therefore, compared to when the first notch is provided on the side of the first rod, the length of the gripping member in the first direction can be made shorter, making it easier to move the gripping member within the body.
  • FIG. 2A and 2B are perspective views of the ligation device 1 and a partially enlarged perspective view showing a state in which a cartridge 7 is detached from a mounting portion 28.
  • FIG. 2 is a cross-sectional view taken along line II-II of FIG. 1 as viewed from the direction of the arrow, and is a partially enlarged cross-sectional view showing the state of the mounting portion 28 from which the cartridge 7 has been detached.
  • 3 is a cross-sectional view taken along line III-III in FIG. 1 as viewed from the direction of the arrow, and is a partially enlarged cross-sectional view showing the state of the mounting portion 28 from which the cartridge 7 has been detached.
  • 4 is a cross-sectional view taken along line IV-IV in FIG.
  • FIG. 10 is a perspective view of a loop forming portion 2B.
  • FIG. FIG. FIG. FIG. 7 is a cross-sectional view taken along line XX in FIG. 6, viewed from the direction of the arrows.
  • 10 is a cross-sectional view taken along line XI-XI in FIG. 7, viewed from the direction of the arrows.
  • 12 is a cross-sectional view taken along line XII-XII in FIG. 7, viewed from the direction of the arrows.
  • FIG. 2 is a perspective view of a gripper 4, a pusher 5, and a drive unit 8.
  • FIG. FIG. 2 is a perspective view of a ligature holding member 4A and a first drive mechanism 8A.
  • FIG. 10 is a perspective view of a rearrangement gripping member 4B and a second drive mechanism 8B.
  • FIG. 10 is a perspective view of the pusher 5 and a third drive mechanism 8C.
  • FIG. 2 is a perspective view of first rods 41 and 43.
  • FIG. 4 is a side view of the first rods 41 and 43.
  • FIG. 10 is a side view of the second rods 42 and 44. 22 is a cross-sectional view taken along line XXII-XXII in FIG. 21, viewed from the direction of the arrows.
  • FIG. 2 is a perspective view of first rods 41 and 43 and second rods 42 and 44.
  • FIG. 10 is a side view of the first rods 41, 43 and the second rods 42, 44 in a released state.
  • FIG. 10 is a side view of the first rods 41, 43 and the second rods 42, 44 in a semi-gripped state.
  • FIG. 10 is a side view of the first rods 41, 43 and the second rods 42, 44 in a fully gripped state.
  • FIG. FIG. FIG. 2 is a block diagram showing the electrical configuration of the robot R and the ligation device 1.
  • 1 is a flowchart showing a ligation process.
  • 31 is a flowchart showing the ligation process, which is a continuation of FIG. 30.
  • 10 is a flowchart showing a tightening process.
  • 10 is a graph showing a current value, a first-order differential value of the current value, and a second-order differential value of the current value obtained from a motor driver Fb1.
  • FIG. 10 is a diagram showing the initial state of the ligation process.
  • FIG. 10 is a diagram showing the first step of the ligation process.
  • FIG. 10 is a diagram showing the second step of the ligation process.
  • FIG. 10 is a diagram showing the third step of the ligation process.
  • FIG. 10 is a diagram showing the fourth step of the ligation process.
  • FIG. 10 is a diagram showing the fifth step of the ligation process.
  • FIG. 10 shows the sixth step of the ligation process.
  • FIG. 10 shows the seventh step of the ligation process.
  • FIG. 10 shows the ninth step of the ligation process.
  • FIG. 10 shows the tenth step of the ligation process.
  • FIG. 11 shows the 11th step of the ligation process.
  • FIG. 10 shows the initial state of the ligation process.
  • FIG. 10 is a diagram showing the first step of the ligation process.
  • FIG. 10 is a diagram showing the second step of the lig
  • FIG. 10 is a flowchart showing a rearrangement process.
  • FIG. 10 is a diagram showing a first step of a rearrangement step.
  • FIG. 10 is a diagram showing a second step of the rearrangement step.
  • FIG. 10 is a diagram showing a third step of the rearrangement step.
  • FIG. 10 is a diagram showing a fourth step of the rearrangement step.
  • FIG. 10 is a diagram showing a fifth step of the rearrangement step.
  • FIG. 10 is a diagram showing a sixth step of the rearrangement step.
  • FIG. 10 is a diagram showing a seventh step of the rearrangement step.
  • FIG. 10 is a flowchart showing a rearrangement process.
  • FIG. 10 is a diagram showing a first step of a rearrangement step.
  • FIG. 10 is a diagram showing a second step of the rearrangement step.
  • FIG. 10 is a diagram showing a third step of the rearrangement step.
  • FIG. 10 is
  • 10A and 10B show the fifth ligating member 405 in a released state and a fully gripped state.
  • 10A and 10B show the sixth ligating member 406 in a released state and a fully gripped state.
  • the ligation device 1 is a device for ligating a body S to be ligated with a thread T.
  • the body S to be ligated is, for example, a part of a living body, such as a blood vessel.
  • the ligation device 1 is used while being connected to a surgical support robot R for performing surgery using minimally invasive techniques.
  • the ligation device 1 includes a main body 2A, loop forming section 2B, and jaw member 3 shown in FIG. 1, a gripper 4 and pusher 5 shown in FIG. 13, a tongue member 6 shown in FIG. 27, and a drive unit 8 shown in FIG. 13.
  • the main body 2A has a cylindrical shape and extends in the front-to-rear direction.
  • the jaw members 3, which will be described later, are supported at the front end of the main body 2A.
  • the jaw members 3 are rotatable about a first axis C1 that extends in the up-down direction. The following description will be given assuming that the main body 2A and the jaw members 3 are arranged in a straight line in the front-to-rear direction.
  • multiple insertion holes are formed inside the main body 2A. Specifically, a first hole 21, a second hole 22A, a third hole 22B, a fourth hole 23A, a fifth hole 23B, a sixth hole 24A, a seventh hole 24B, an eighth hole 25A, a ninth hole 25B, and a tenth hole 26 are formed inside the main body 2A.
  • the first hole 21 is located in the left-right center of the main body 2A. As shown in FIG. 2, the first hole 21 includes an extension portion 21A, a first branch portion 21B, and a second branch portion 21C.
  • the extension portion 21A extends rearward from the front end of the main body 2A.
  • the first branch portion 21B extends rearward from the rear end of the extension portion 21A.
  • the second branch portion 21C extends diagonally downward and rearward from the rear end of the extension portion 21A, then bends rearward and extends rearward again.
  • the first hole 21 branches into the first branch portion 21B and the second branch portion 21C at the rear end of the extension portion 21A.
  • a portion of the ligation grasping member 4A and a portion of the pusher 5 are inserted into the first branch portion 21B.
  • a portion of the repositioning grasping member 4B is inserted into the second branch portion 21C.
  • the second hole 22A, third hole 22B, fourth hole 23A, fifth hole 23B, sixth hole 24A, seventh hole 24B, eighth hole 25A, ninth hole 25B, and tenth hole 26 shown in Figure 4 extend in the front-to-rear direction.
  • the second hole 22A and the third hole 22B are located in the vertical center of the main body 2A.
  • the second hole 22A is located to the right of the first hole 21.
  • the third hole 22B is located to the left of the first hole 21.
  • a third operating wire (not shown) is inserted through the second hole 22A and the third hole 22B.
  • the fourth hole 23A is located to the right of the second branch portion 21C.
  • the fifth hole 23B is located to the left of the second branch portion 21C.
  • the loop-shaped rotating belt 230 shown in Figure 2 is inserted through the fourth hole 23A and the fifth hole 23B.
  • the loop forming unit 2B is disposed inside the main body 2A, behind the jaw members 3.
  • the loop forming unit 2B forms a loop in the yarn T in the extension portion 21A of the first hole 21.
  • the loop forming unit 2B includes a first loop axis 46 and a second loop axis 56.
  • the first support base 46A and the second support base 56A are circular plates and are perpendicular to the vertical direction.
  • the first support base 46A and the second support base 56A are aligned in the front-to-back direction.
  • the first support base 46A is positioned behind the second support base 56A.
  • the first support base 46A can rotate around a fourth axis C4 that passes through its center and extends in the vertical direction.
  • the second support base 56A can rotate around a fifth axis C5 that passes through its center and extends in the vertical direction.
  • first rotation direction R1 When viewed from above, if the first support base 46A rotates clockwise, the second support base 56A rotates counterclockwise. Hereinafter, this rotation direction will be referred to as the "first rotation direction R1.” When viewed from above, if the first support base 46A rotates counterclockwise, the second support base 56A rotates clockwise. Hereinafter, this rotation direction will be referred to as the “second rotation direction R2.”
  • clockwise direction and counterclockwise direction refer to the rotation directions when viewed from above.
  • the fifth partition wall 561B and the sixth partition wall 562B protrude upward from the third partition base 56B.
  • the fifth partition wall 561B and the sixth partition wall 562B are spaced apart in the circumferential direction centered on the fifth axis C5.
  • a sixth groove 560B is formed between the fifth partition wall 561B and the sixth partition wall 562B.
  • the seventh partition wall 561C and the eighth partition wall 562C protrude upward from the fourth partition base 56C.
  • the seventh partition wall 561C and the eighth partition wall 562C are spaced apart in the circumferential direction centered on the fifth axis C5.
  • a seventh groove 560C is formed between the seventh partition wall 561C and the eighth partition wall 562C.
  • the upper ends of the fifth partition wall 561B, sixth partition wall 562B, seventh partition wall 561C, and eighth partition wall 562C slope upward from the counterclockwise end to the opposite end.
  • first rotation position As shown in FIG. 5, when the first loop shaft 46 rotates and the second separation stand 46C is positioned to the right of the first separation stand 46B, the second loop shaft 56 rotates in conjunction with it and the fourth separation stand 56C is positioned to the left of the third separation stand 56B.
  • first rotation position The position where the first loop shaft 46 and the second loop shaft 56 are rotated 90 degrees in the first rotation direction R1 from the first rotation position will be referred to as the "second rotation position.”
  • second rotation position The position where the first loop shaft 46 and the second loop shaft 56 are rotated 180 degrees from the first rotation position will be referred to as the "third rotation position.”
  • the second groove 460A and the third groove 560A extend in the front-to-rear direction
  • the fourth groove 460B, the fifth groove 460C, the sixth groove 560B, and the seventh groove 560C extend in the left-to-right direction
  • the second groove 460A and the third groove 560A extend in the left-to-right direction
  • the fourth groove 460B, the fifth groove 460C, the sixth groove 560B, and the seventh groove 560C extend in the front-to-rear direction.
  • the first jaw 3A and jaw main body 20A have an attachment portion 28 to which the cartridge 7, described below, is attached.
  • the portion of the attachment portion 28 that is provided on the jaw main body 20A is called the first portion attachment portion 28A.
  • the first portion attachment portion 28A is recessed downward from the upper surface of the jaw main body 20A.
  • the portion of the attachment portion 28 that is provided on the first jaw 3A is called the second portion attachment portion 32A.
  • the second portion attachment portion 32A penetrates between the upper and lower surfaces of the first jaw 3A.
  • the left-right width of the second portion attachment portion 32A is smaller than the left-right width of the first portion attachment portion 28A.
  • a pulley 27 is provided at the bottom of the first partial mounting portion 28A.
  • the pulley 27 is plate-shaped and perpendicular to the vertical direction.
  • a mounting hole 27A is formed in the center of the pulley 27.
  • the mounting hole 27A has a regular hexagonal cross section and penetrates in the vertical direction.
  • a rotating belt 230 is wound around the side of the pulley 27. The pulley 27 rotates in response to the rotation of the rotating belt 230.
  • the pulley 27 and the rotating belt 230 will be referred to as the "transmission mechanism 29.”
  • the rear end of the second jaw 3B is rotatably supported on the front end of the main body 2A.
  • a seventh axis C7 extends along the center of rotation of the second jaw 3B in the left-right direction.
  • the second jaw 3B moves between a close position in contact with the front end of the first jaw 3A (see Figures 1 and 2) and a distant position spaced downward from the front end of the first jaw 3A.
  • the second jaw 3B moves between the close position and the distant position in response to operation of the fourth operating wire.
  • a gap is formed between the first jaw 3A excluding the portion that contacts the second jaw 3B and the second jaw 3B excluding the portion that contacts the first jaw 3A.
  • the object to be ligated S is held by the first jaw 3A and the second jaw 3B while positioned in this gap.
  • the area where the object to be ligated S held by the first jaw 3A and the second jaw 3B is positioned is referred to as the "holding area Sp.”
  • a twelfth hole 31A is formed in the second jaw 3B.
  • the twelfth hole 31A extends diagonally downward and rearward from the portion that contacts the first jaw 3A when positioned in the close proximity position, then bends rearward and extends rearward to the rear end of the second jaw 3B.
  • the twelfth hole 31A penetrates in the vertical direction at the front end of the second jaw 3B.
  • the twelfth hole 31A is an example of a second jaw through-hole.
  • a 13th hole 31B is formed within the jaw body 20A, below the pulley 27 of the first partial mounting portion 28A.
  • the 13th hole 31B extends rearward from the front end of the jaw body 20A.
  • the front end of the 13th hole 31B is located rearward of the rear end of the 12th hole 31A provided in the second jaw 3B.
  • a tongue member 6 shown in Figure 27, which will be described later, is placed in the 12th hole 31A and the 13th hole 31B.
  • the cartridge 7 is detachably attached to the mounting portion 28 of the jaw member 3. As shown in Figure 6, the cartridge 7 has a first partial body 7A and a second partial body 7B.
  • the first partial body 7A is shaped like a rectangular parallelepiped that is long in the front-to-rear direction.
  • the second partial body 7B is rod-shaped and extends forward from near the upper end of the front surface 700F of the first partial body 7A.
  • the left-to-right width of the second partial body 7B is smaller than the left-to-right width of the first partial body 7A.
  • the up-to-down width of the second partial body 7B is smaller than the up-to-down width of the first partial body 7A.
  • the top surfaces of the first partial body 7A and second partial body 7B are arranged on the same plane.
  • the first partial body 7A is attached to the first partial attachment portion 28A of the attachment portion 28 shown in Figure 1.
  • the second partial body 7B is attached to the second partial attachment portion 32A of the attachment portion 28 shown in Figure 1.
  • a protrusion 700P that protrudes downward is provided on the underside 700S of the first partial main body 7A near the front end.
  • a bobbin B is provided on the protrusion 700P.
  • a thread T is wound around the bobbin B.
  • the bobbin B is positioned rearward of the holding area Sp where the ligation target S is held by the first jaw 3A and the second jaw 3B.
  • the bobbin B is supported so as to be rotatable about a third axis C3 that extends in the left-right direction.
  • a 14th hole 7H is formed in the protruding portion 700P below the bobbin B.
  • the 14th hole 7H is positioned between the 12th hole 31A of the second jaw 3B and the 13th hole 31B of the jaw main body 20A shown in FIG. 2.
  • the 12th hole 31A, the 13th hole 31B, and the 14th hole 7H are aligned in a straight line in the front-to-rear direction.
  • the first partial main body 7A has a storage recess 71 extending downward from the upper surface 700U.
  • the cross-sectional shape of the storage recess 71 is circular.
  • the storage recess 71 has a collection section 71A and a first storage section 71B, each with a different inner diameter.
  • the first storage section 71B is located below the collection section 71A.
  • the inner diameter of the first storage section 71B is uniform in the vertical direction.
  • the inner diameter of the first storage section 71B is larger than the inner diameter of the collection section 71A.
  • the side surface 70B of the first storage section 71B extends in the vertical direction.
  • a groove 711 is formed on the side surface 70B, extending spirally around an axis that passes through the center of the storage recess 71 and extends in the vertical direction.
  • a plurality of protrusions 710 that protrude inward are formed in the area sandwiched between the grooves 711 in the vertical direction.
  • the protrusion direction of the protrusions 710 is perpendicular to the vertical direction.
  • a transmission through-hole 71C that communicates with the underside 700S of the first partial main body 7A is formed on the bottom surface 70C of the storage recess 71.
  • the first coil spring 73A and the second coil spring 73B have the same diameter.
  • the first coil spring 73A and the second coil spring 73B have the same diameter in the vertical direction.
  • the centers of the first coil spring 73A and the second coil spring 73B coincide at the position of the second axis C2.
  • the second axis C2 extends in the vertical direction.
  • the first coil spring 73A and the second coil spring 73B have wire strands 730.
  • the wire strands 730 of the first coil spring 73A are arranged at equal intervals in the vertical direction.
  • the wire strands 730 of the second coil spring 73B are arranged at equal intervals in the vertical direction.
  • the wire strands 730 of the first coil spring 73A and the second coil spring 73B are arranged alternately in the vertical direction.
  • the intervals in the vertical direction between the wire strands 730 of the first coil spring 73A and the second coil spring 73B are uniform.
  • the wire 730 is inclined with respect to the direction in which the second axis C2 extends.
  • the diameters of the first coil spring 73A and the second coil spring 73B are the same as the inner diameter of the recovery section 71A and smaller than the inner diameter of the first storage section 71B.
  • the reel member 73 contacts the inner wall 70A that forms the recovery section 71A.
  • the reel member 73 and the side surface 70B of the first storage section 71B are spaced apart radially about the second axis C2.
  • a rotating body 72 is connected to the lower end of the reel member 73.
  • the rotating body 72 has a support plate 72A and a protrusion 72B.
  • the support plate 72A is a circular plate that is perpendicular to the vertical direction.
  • the lower end of the reel member 73 is connected to the upper surface of the support plate 72A.
  • the protrusion 72B protrudes downward from the underside of the support plate 72A.
  • the protrusion 72B protrudes in the opposite direction from the reel member 73 across the support plate 72A in the vertical direction.
  • the shape of the protrusion 72B is a hexagonal prism.
  • the protrusion 72B is inserted into a transmission through-hole 71C provided in the bottom surface 70C of the storage recess 71.
  • the protrusion 72B protrudes downward from the underside 700S of the first partial main body 7A.
  • the rotating body 72 is rotatably supported on the bottom surface 70C of the storage recess 71.
  • the rotating body 72 rotates around a sixth axis C6 extending in the vertical direction. As shown in Figure 10, the position of the sixth axis C6 coincides with the position of the second axis C2 passing through the center of the reel member 73.
  • the protrusion 72B fits into the attachment hole 27A of the pulley 27 shown in Figure 3.
  • the rotating body 72 rotates around the sixth axis C6.
  • the reel member 73 connected to the support plate 72A also rotates around the second axis C2.
  • the first partial body 7A is provided with a first communication hole 76A, a second communication hole 76B, and a third communication hole 76C.
  • the first communication hole 76A extends forward from the rear surface 700B of the first partial main body 7A and communicates with the storage recess 71.
  • the first communication hole 76A is a rectangular hole that is long in the vertical direction.
  • a first circular portion 761 with curved sides is provided below the upper end of the first communication hole 76A.
  • the left-right width of the first circular portion 761 is greater than the left-right width of the portion of the first communication hole 76A excluding the first circular portion 761.
  • the first circular portion 761 connects to the inner wall 70A of the collection section 71A of the storage recess 71.
  • the second communication hole 76B extends rearward from the front surface 700F of the first partial main body 7A and communicates with the storage recess 71.
  • the second communication hole 76B is a rectangular hole that is long in the vertical direction.
  • a second circular portion 762 with curved sides is provided below the upper end of the second communication hole 76B.
  • the left-right width of the second circular portion 762 is greater than the left-right width of the portion of the second communication hole 76B excluding the second circular portion 762.
  • the second circular portion 762 connects to the inner wall 70A of the collection section 71A of the storage recess 71.
  • the first communication hole 76A and the second communication hole 76B are aligned in the front-to-rear direction.
  • the first circular portion 761 of the first communication hole 76A and the second circular portion 762 of the second communication hole 76B are aligned in a straight line in the front-to-rear direction.
  • the first communication hole 76A and the second communication hole 76B are positioned so as to overlap the second axis C2 and the sixth axis C6 in the front-to-rear direction.
  • the third communication hole 76C extends downward from the upper surface 700U of the first partial main body 7A and communicates with the second communication hole 76B.
  • the winding thread cutter 77 is provided in front of the reel member 73 and behind the bobbin B.
  • the winding thread cutter 77 is plate-shaped and perpendicular to the front-to-rear direction.
  • the winding thread cutter 77 extends rightward from the left end of the first partial main body 7A.
  • the winding thread cutter 77 overlaps with the reel member 73 in the left-to-right direction.
  • the blade 77A of the winding thread cutter 77 protrudes toward the portion of the storage recess 71 that communicates with the second communication hole 76B.
  • the blade 77A extends in the up-down direction.
  • the blade 77A is positioned leftward of the second axis C2 and the sixth axis C6 in the left-to-right direction.
  • the second partial main body 7B has an upper plate 78U, a right plate 78R, and a left plate 78L.
  • the upper plate 78U is perpendicular to the up-down direction.
  • the right plate 78R extends downward from the right end of the upper plate 78U.
  • the left plate 78L extends downward from the left end of the upper plate 78U.
  • Part of the area 780 surrounded by the upper plate 78U, right plate 78R, and left plate 78L overlaps in the front-to-rear direction with the first circular portion 761 of the first communicating hole 76A and the second circular portion 762 of the second communicating hole 76B.
  • a gripping suture cutter 79 is provided near the front end of the upper plate 78U of the second partial body 7B.
  • the gripping suture cutter 79 cuts the suture gripped by the ligature gripping member 4A.
  • the gripping suture cutter 79 is positioned posterior to the first jaw through-hole 33 of the first jaw 3A.
  • the blade 79A of the gripping suture cutter 79 protrudes toward the area 780 surrounded by the upper plate 78U, right plate 78R, and left plate 78L.
  • the gripping body 4 At least a portion of the gripping body 4 is disposed within the main body 2A.
  • the gripping body 4 is movable in the front-to-rear direction relative to the main body 2A.
  • the gripping body 4 grips the suture T and moves rearward, thereby drawing the suture T into the main body 2A.
  • the gripping body 4 includes a ligating gripping member 4A and a repositioning gripping member 4B.
  • the ligating gripping member 4A and the repositioning gripping member 4B have the same shape.
  • the ligating gripping member 4A is disposed above the repositioning gripping member 4B.
  • the ligating gripping member 4A is disposed inside a pusher 5, which will be described later.
  • the ligation grasping member 4A has a first rod 41 and a second rod 42.
  • the first rod 41 has a cylindrical shape and extends in the front-to-back direction.
  • the second rod 42 is disposed in a through hole within the first rod 41.
  • the second rod 42 has a rod shape, more specifically a cylindrical shape, and extends in the front-to-back direction.
  • the rearrangement grasping member 4B has a first rod 43 and a second rod 44.
  • the first rod 43 and the second rod 44 correspond to the first rod 41 and the second rod 42 of the ligation grasping member 4A shown in FIG. 15. Details of the first rods 41, 43 and the second rods 42, 44 will be described later.
  • the ligation gripping member 4A is movable in the front-to-rear direction along the extension portion 21A and first branch portion 21B of the first hole 21 of the main body 2A shown in Figure 2, the eleventh hole 32B of the jaw main body 20A, and the first circular portion 761 of the first communicating hole 76A of the cartridge 7 shown in Figure 10, the second circular portion 762 of the second communicating hole 76B, and the recovery portion 71A of the storage recess 71.
  • the rearrangement gripping member 4B is movable in the front-to-rear direction along the extension portion 21A and second branch portion 21C of the first hole 21 of the main body 2A shown in FIG. 2, the eleventh hole 32B of the jaw main body 20A, and the first circular portion 761 of the first communicating hole 76A of the cartridge 7 shown in FIG. 10, the second circular portion 762 of the second communicating hole 76B, and the recovery portion 71A of the storage recess 71.
  • the trajectory traversed by the rearrangement gripping member 4B when it moves, as shown in FIG. 2 will be referred to as the "movement trajectory U.”
  • the movement trajectory U intersects with the reel member 73 disposed in the storage recess 71 of the cartridge 7.
  • the first storage portion 71B of the storage recess 71 of the cartridge 7 is spaced downward from the movement trajectory U.
  • the blade 79A of the gripping thread cutter 79 of the cartridge 7 is disposed opposite the second jaw 3B across the movement trajectory U in the vertical direction. The blade 79A protrudes toward the movement trajectory U.
  • first rods 41, 43 and second rods 42, 44 The first rods 41 and 43 have the same configuration.
  • the second rods 42 and 44 have the same configuration.
  • the first rod 41 and the second rod 42 will be described as an example, and a description of the first rod 43 and the second rod 44 will be omitted.
  • the first rod 41 has a cylindrical body 45.
  • An eighth axis C8 passes through the center of the cylindrical body 45 and extends in the front-to-rear direction.
  • a first notch 40 is provided in the front end 45F of the cylindrical body 45.
  • the first notch 40 has a first one-side notch 461 and a first other-side notch 462.
  • the first one-side notch 461 and the first other-side notch 462 are each recessed portions formed in the front end 45F and extend linearly rearward.
  • the first one-side notch 461 and the first other-side notch 462 face each other in a direction perpendicular to the eighth axis C8.
  • the width of the first one-side notch 461 and the first other-side notch 462 at the connection portion with the front end 45F increases toward the front.
  • the thickness of the cylindrical body 45 is denoted as "D1.” Thickness D1 is greater than the thickness of the thread T.
  • the second rod 42 has a cylindrical body 47.
  • a ninth axis C9 passing through the center of the cylindrical body 47 extends in the front-to-rear direction.
  • the diameter of the cylindrical body 47 is the same as the inner diameter of the cylindrical body 45 of the first rod 41, 43.
  • a second notch 48 is provided in the front end 47F of the cylindrical body 47.
  • the second notch 48 has a first partial notch 480 and a second partial notch 481.
  • the first partial notch 480 is a recess formed in the front end 47F and extends linearly rearward.
  • the first partial notch 480 is connected in a direction perpendicular to the ninth axis C9.
  • the width of the first partial notch 480 at the connection portion with the front end 47F increases toward the front.
  • the length in the front-to-rear direction of the first partial notch 480 is equal to the length in the front-to-rear direction of the first notch 40 of the first rod 41, 43.
  • the second partial cutout 481 is provided at the rear end of the first partial cutout 480.
  • the second partial cutout 481 has a first notch 481A and a second notch 481B.
  • the first notch 481A and the second notch 481B face each other in a direction perpendicular to the ninth axis C9.
  • the first notch 481A and the second notch 481B each extend clockwise from the rear end of the first partial cutout 480 along the circumferential direction centered on the ninth axis C9 as viewed from the front.
  • the second rod 42 is disposed inside the first rod 41.
  • the front end 45F of the first rod 41 and the front end 47F of the second rod 42 are positioned in the same position in the front-to-rear direction.
  • the eighth axis C8 of the first rod 41 and the ninth axis C9 of the second rod 42 are positioned in the same position.
  • the second rod 42 is rotatable around the ninth axis C9 relative to the first rod 41.
  • the extension direction of the first notch 40 of the first rod 41 coincides with the extension direction of the first partial notch 480 of the second rod 42.
  • the extension direction of the first notch 40 of the first rod 41 is perpendicular to the extension direction of the second partial notch 481 of the second rod 42.
  • Figures 24, 25, and 26 differ in the positional relationship between the first rod 41 and the second rod 42.
  • the state shown in Figure 24 is called the “released state.”
  • the state shown in Figure 25 is called the “semi-gripped state.”
  • the state shown in Figure 26 is called the "fully gripped state.”
  • the first notch 40 of the first rod 41 and the first partial notch 480 of the second rod 42 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9.
  • the thread T can be inserted into the first notch 40 and the first partial notch 480, and the thread T can be removed from the first notch 40 and the first partial notch 480.
  • the semi-gripped state shown in Figure 25 indicates a state in which the second rod 42 has rotated approximately 45 degrees counterclockwise when viewed from the front from the released state shown in Figure 24.
  • the first notch 40 of the first rod 41 and a portion of the second partial notch 481 of the second rod 42 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9.
  • the first partial notch 480 of the second rod 42 is covered by the cylindrical body 45 of the first rod 41.
  • the thread T is inserted into the first notch 40 and the first partial notch 480 in the released state, when the state changes from the released state to the semi-held state, the thread T is positioned at the bottom of the first notch 40 of the first rod 41 and the second partial notch 481 of the second rod 42. Because the thread T is covered from the front by a portion of the second rod 42, it cannot be detached from the first rod 41 and the second rod 42. Note that in the semi-held state, the cross-sectional area of the area formed by the bottom of the first notch 40 of the first rod 41 and the second partial notch 481 of the second rod 42 is larger than the cross-sectional area of the thread T. Therefore, the thread T is movable relative to the first rod 41 and the second rod 42.
  • the fully gripped state shown in Figure 26 is a state in which the second rod 42 has been rotated approximately 45 degrees counterclockwise when viewed from the front from the semi-gripped state shown in Figure 25.
  • the bottom of the first notch 40 of the first rod 41 and a portion of the tip of the second partial notch 481 of the second rod 42 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9.
  • the first partial notch 480 of the second rod 42 and the second partial notch 481, excluding their tip portions, are covered by the cylindrical body 45 of the first rod 41.
  • the thread T When the thread T is inserted into the first notch 40 and the first partial notch 480 in the released state and then the state changes from the released state to the fully gripped state, the thread T is gripped by the tips of the first notch 40 and the second partial notch 481. As a result, the thread T becomes immovable relative to the first rod 41 and the second rod 42.
  • ⁇ Pusher 5> 17 is at least partially disposed within the main body 2A.
  • the pusher 5 is movable in the front-to-rear direction relative to the main body 2A. By moving forward, the pusher 5 pushes the first loop P1 and the second loop P2 of the yarn T formed in the loop forming section 2B forward from the main body 2A.
  • the pusher 5 has a cylindrical shape and extends in the front-to-rear direction.
  • the ligation and grasping member 4A shown in Figure 15 is disposed inside the pusher 5.
  • the position of the tenth axis C10 passing through the center of the pusher 5 coincides with the position of the eighth axis C8 and ninth axis C9 passing through the center of the ligation and grasping member 4A.
  • the front end 51 of the pusher 5 is inclined with respect to a plane perpendicular to the tenth axis C10.
  • the pusher 5 is movable in the front-rear direction along the extension 21A and first branch 21B of the first hole 21 of the main body 2A shown in FIG. 2, the eleventh hole 32B of the jaw main body 20A, and the first circular portion 761 of the first communicating hole 76A of the cartridge 7 shown in FIG. 10, the second circular portion 762 of the second communicating hole 76B, and the recovery portion 71A of the storage recess 71.
  • the pusher 5 is also movable in the front-rear direction relative to the ligation grasping member 4A arranged inside.
  • the tongue member 6 is disposed inside the jaw member 3.
  • the tongue member 6 shown in FIG. 27 moves in the front-rear and up-down directions.
  • the tongue member 6 passes the yarn T unwound from the bobbin B through the twelfth hole 31A of the second jaw 3B of the jaw member 3 shown in FIG. 2 and guides the yarn T toward the first jaw through-hole 33 of the first jaw 3A.
  • the movement direction of the tongue member 6 at this time is defined as the "first movement direction Y1.”
  • the direction opposite to the first movement direction Y1 is referred to as the "second movement direction Y2.”
  • the upward direction corresponds to the first movement direction Y1
  • the downward direction corresponds to the second movement direction Y2.
  • the direction extending along the first movement direction Y1 and the second movement direction Y2 is referred to as the "extension direction Y.”
  • the tongue member 6 has a flexible plate 60.
  • the plate 60 is shaped like a rectangle that is long in the extension direction Y and perpendicular to the up-down direction.
  • a plurality of round holes 60H are formed in the portion of the plate 60 between the center in the extension direction and the upstream end 60B.
  • the left end 60L and right end 60R of the plate 60 each extend in the extension direction Y.
  • the left end 60L has a left curved portion 601 at its downstream end in the first movement direction Y1.
  • the right end 60R has a right curved portion 602 at its downstream end in the first movement direction Y1.
  • a first inclined portion 61, a second inclined portion 62, a slit 63, and a capture portion 64 are formed at the tip of the tongue member 6, i.e., the downstream end of the plate body 60 in the first movement direction Y1.
  • the first curved portion 603 is connected to the right end of the first inclined portion 61.
  • the first curved portion 603 curves upstream in the first movement direction Y1 from the end connected to the first inclined portion 61 to the opposite end, and then extends while curving further to the left.
  • the second inclined portion 62 extends linearly from the right curved portion 602 at the right end 60R to the left and upstream in the first movement direction Y1.
  • the left end of the second inclined portion 62 is located near the center position Qc of the plate body 60.
  • the second inclined portion 62 intersects with the imaginary line Q1.
  • a imaginary line Q2 extending along the second inclined portion 62 is defined.
  • the direction extending along the imaginary line Q2 intersects with the drawing direction Y and the imaginary line Q1.
  • a portion of the second inclined portion 62 faces the first curved portion 603 upstream in the first movement direction Y1.
  • the distance between the second inclined portion 62 and the first curved portion 603 is denoted by "D2".
  • the distance D2 is smaller than the thickness of the yarn T.
  • the slit 63 connects to the upstream end of the second inclined portion 62 in the first movement direction Y1.
  • the slit 63 extends from the connection with the second inclined portion 62 toward the upstream side in the first movement direction Y1 along the stretching direction Y.
  • the left-right position of the slit 63 coincides with the center position Qc of the plate body 60.
  • the spacing between the slits 63 is denoted as "D3".
  • the spacing D3 is smaller than the thickness of the yarn T.
  • the spacing D3 is smaller than the spacing D2.
  • the capturing portion 64 connects to the end of the first curved portion 603 opposite the end that connects to the first inclined portion 61.
  • the capturing portion 64 is recessed downstream in the first movement direction Y1.
  • the capturing portion 64 is positioned downstream in the first movement direction Y1 relative to the slit 63.
  • An opening 604 is formed at the upstream end of the capturing portion 64 in the first movement direction Y1.
  • the opening 604 opens upstream in the first movement direction Y1.
  • the width of the opening 604 is referred to as "D4".
  • the width D4 is greater than the spacing D3 of the slit 63.
  • the portion of the plate 60 near the downstream end in the first movement direction Y1, where the first inclined portion 61, the second inclined portion 62, the slit 63, and the capture portion 64 are provided, is referred to as the "downstream end portion 60F.”
  • a first operating wire is connected to multiple circular holes 60H in the tongue member 6.
  • the tongue member 6 moves in the first movement direction Y1 or the second movement direction Y2 depending on the operation of the first operating wire.
  • the tongue member 6 can move along the 13th hole 31B of the jaw body 20A shown in Figure 2, the 14th hole 7H of the cartridge 7 shown in Figure 10, and the 12th hole 31A of the second jaw 3B shown in Figure 2.
  • the plate body 60 bends as shown in Figure 28.
  • the downstream end 60F of the plate body 60 protrudes from the tip of the second jaw 3B shown in Figure 2 and moves toward the first jaw through-hole 33 of the first jaw 3A.
  • the downstream end 60F of the plate body 60 is inserted into the first jaw through-hole 33 of the first jaw 3A.
  • the downstream end 60F of the plate body 60 faces rearward.
  • the forward-most portion of the plate body 60 is referred to as the "upstream end Q3.”
  • the upstream end Q3 is located forward of the downstream-most portion of the plate body 60 in the first movement direction Y1, i.e., the downstream end 60F.
  • the position of the tongue member 6 that has moved the furthest in the first movement direction Y1 will be referred to as the "protruding position.”
  • the position of the tongue member 6 that has moved the furthest in the second movement direction Y2 will be referred to as the "retracted position.”
  • the plate body 60 extends linearly in the front-to-rear direction. Furthermore, the downstream end 60F of the plate body 60 is located rearward of the 14th hole 7H of the cartridge 7.
  • the robot connector 9 covers the rear end of the main body 2A.
  • the robot connector 9 has a cylindrical shape.
  • the main body 2A passes rearward past the front end of a side surface 91 of the robot connector 9 and extends to the rear end of the side surface 91.
  • the gripper 4 and the pusher 5 pass through the main body 2A and extend rearward beyond the rear end of the side surface 91.
  • the disk Rr of the robot R is connected to the upper end of the robot connection part 9.
  • Multiple robot motors MR built into the robot R are connected to the disk Rr.
  • the rotation axes of the multiple robot motors MR extend into the robot connection part 9.
  • the robot R operates the first operation wire, second operation wire, third operation wire, fourth operation wire, and rotating belt 230 by rotating the multiple robot motors MR.
  • the drive unit 8 is connected to the rear end of the side surface 91 of the robot connection part 9.
  • the drive unit 8 has a cylindrical case 804.
  • the case 804 houses the first drive mechanism 8A, second drive mechanism 8B, and third drive mechanism 8C shown in Figs. 13 to 17, and the first motor Ma1, first auxiliary motor Ma2, second motor Mb1, second auxiliary motor Mb2, third motor Mc1, and third auxiliary motor Mc2 shown in Fig. 29.
  • the first drive mechanism 8A shown in Figure 15 moves the first rod 41 and second rod 42 of the ligation grasping member 4A in the front-to-rear direction and rotates the second rod 42.
  • the second drive mechanism 8B shown in Figure 16 moves the first rod 43 and second rod 44 of the rearrangement grasping member 4B in the front-to-rear direction and rotates the second rod 44.
  • the third drive mechanism 8C shown in Figure 17 moves the pusher 5 in the front-to-rear direction and rotates it.
  • the first drive mechanism 8A has a first screw shaft Xa1, a first auxiliary shaft Xa2, a first grip support portion 80A, as well as a first motor Ma1 and a first auxiliary motor Ma2 shown in FIG.
  • the first screw shaft Xa1 has a rod shape with a circular cross section.
  • a male thread is formed on the side of the first screw shaft Xa1.
  • the male thread extends spirally in the front-to-rear direction.
  • the first screw shaft Xa1 is positioned diagonally downward to the right of the first auxiliary shaft Xa2 and extends parallel to the first auxiliary shaft Xa2.
  • the first auxiliary shaft Xa2 is a D-cut shaft with a D-shaped cross section.
  • the first screw shaft Xa1 rotates when driven by the first motor Ma1.
  • the first auxiliary shaft Xa2 rotates when driven by the first auxiliary motor Ma2.
  • the first gripping support portion 80A supports the first rod 41 and the second rod 42.
  • the first gripping support portion 80A has a support base 81A, a first main gear 81B, and a first slave gear 81C.
  • the support base 81A supports the first rod 41, first main gear 81B, and first slave gear 81C.
  • the support base 81A has a first through hole 811, a second through hole 812, and a third through hole 813.
  • a female thread is formed on the inner surface of the first through hole 811. The female thread extends spirally in the front-to-rear direction.
  • a first screw shaft Xa1 is inserted into the first through hole 811.
  • the male thread of the first screw shaft Xa1 meshes with the female thread of the first through hole 811.
  • a first auxiliary shaft Xa2 is inserted into the second through hole 812.
  • the rear end of the first rod 41 connects around the third through hole 813 and to the front surface of the support base 81A.
  • the first main gear 81B is a spur gear with teeth provided on only approximately half of its circumferential area.
  • the rotation axis of the first main gear 81B extends in the front-to-rear direction.
  • a gear through-hole 81H with a D-shaped cross section is formed in the center of the first main gear 81B.
  • the second through-hole 812 and the gear through-hole 81H are aligned in a straight line in the front-to-rear direction.
  • the first auxiliary shaft Xa2 is inserted through the gear through-hole 81H.
  • the first main gear 81B is movable in the front-to-rear direction relative to the first auxiliary shaft Xa2.
  • the cross-sectional shape of the first auxiliary shaft Xa2 is also D-shaped. Therefore, the first main gear 81B rotates in response to the rotation of the first auxiliary shaft Xa2.
  • the first slave gear 81C is a spur gear.
  • the rotation axis of the first slave gear 81C extends in the front-to-rear direction.
  • the first slave gear 81C is provided at the rear end of the second rod 42.
  • the second rod 42 extends forward from the first slave gear 81C.
  • the second rod 42 passes through the third through hole 813 and is inserted into the through hole of the first rod 41.
  • the first slave gear 81C meshes with the first main gear 81B.
  • the first slave gear 81C rotates in response to the rotation of the first main gear 81B.
  • the ligation device 1 drives the first auxiliary motor Ma2 to rotate the first auxiliary shaft Xa2.
  • the first main gear 81B and the first driven gear 81C rotate.
  • the second rod 42 also rotates.
  • the second rod 42 rotates relative to the first rod 41 in the ligation grasping member 4A.
  • the first drive mechanism 8A moves the first rod 41 and second rod 42 of the ligation grasping member 4A together in the front-to-rear direction in response to rotation of the first screw shaft Xa1 by driving the first motor Ma1. Furthermore, the first drive mechanism 8A rotates the second rod 42 relative to the first rod 41 in response to rotation of the first auxiliary shaft Xa2 by driving the first auxiliary motor Ma2.
  • the second drive mechanism 8B has a second screw shaft Xb1, a second auxiliary shaft Xb2, and a second grip support portion 80B, as well as a second motor Mb1 and a second auxiliary motor Mb2 shown in FIG.
  • the second screw shaft Xb1 has a rod shape with a circular cross section.
  • a male thread is formed on the side of the second screw shaft Xb1.
  • the male thread extends spirally in the front-to-rear direction.
  • the second screw shaft Xb1 is positioned to the right of the second auxiliary shaft Xb2 and extends parallel to the second screw shaft Xb1.
  • the second auxiliary shaft Xb2 is a D-cut shaft with a D-shaped cross section.
  • the second screw shaft Xb1 rotates when driven by the second motor Mb1.
  • the second auxiliary shaft Xb2 rotates when driven by the second auxiliary motor Mb2.
  • the second gripping support portion 80B supports the first rod 43 and the second rod 44.
  • the configuration of the second gripping support portion 80B is the same as that of the first gripping support portion 80A shown in Figure 15.
  • the second grip support part 80B has a support base 82A, a first main gear 82B, and a first slave gear 82C.
  • the support base 82A, the first main gear 82B, and the first slave gear 82C correspond to the support base 81A, the first main gear 81B, and the first slave gear 81C of the first grip support part 80A shown in FIG. 15.
  • the first through hole 821, the second through hole 822, and the third through hole 823 formed in the support base 82A correspond to the first through hole 811, the second through hole 812, and the third through hole 813 formed in the support base 81A shown in FIG. 15, respectively.
  • the second screw shaft Xb1 is inserted into the first through hole 821.
  • the male thread of the second screw shaft Xb1 meshes with the female thread of the first through hole 821.
  • the second auxiliary shaft Xb2 is inserted into the second through hole 822.
  • the rear end of the first rod 43 is connected to the periphery of the third through hole 823 and the front surface of the support base 82A.
  • the second through-hole 822 and the gear through-hole 82H of the first main gear 82B are aligned in a straight line in the front-to-rear direction.
  • the second auxiliary shaft Xb2 is inserted into the gear through-hole 82H.
  • the first main gear 82B is movable in the front-to-rear direction relative to the second auxiliary shaft Xb2.
  • the first main gear 82B rotates in response to the rotation of the second auxiliary shaft Xb2.
  • the first slave gear 82C is provided at the rear end of the second rod 44.
  • the second rod 44 extends forward from the first slave gear 82C.
  • the second rod 44 passes through the third through hole 823 and is inserted into the through hole of the first rod 43.
  • the first slave gear 82C meshes with the first main gear 82B.
  • the first slave gear 82C rotates in response to the rotation of the first main gear 82B.
  • Second Drive Mechanism 8B The operation of the second drive mechanism 8B when moving the first rod 43 and the second rod 44 of the rearrangement gripping member 4B in the front-rear direction is the same as the operation of the first drive mechanism 8A shown in Fig. 15.
  • the second drive mechanism 8B moves the first rod 43 and the second rod 44 of the rearrangement gripping member 4B together in the front-rear direction in response to rotation of the second screw shaft Xb1 by driving of the second motor Mb1.
  • the second drive mechanism 8B also rotates the second rod 44 relative to the first rod 43 in response to rotation of the second auxiliary shaft Xb2 by driving of the second auxiliary motor Mb2.
  • the third drive mechanism 8C has a third screw shaft Xc1, a third auxiliary shaft Xc2, and a pusher support portion 80C, as well as a third motor Mc1 and a third auxiliary motor Mc2 shown in FIG.
  • the third screw shaft Xc1 has a rod-like shape with a circular cross section.
  • a male thread is formed on the side of the third screw shaft Xc1.
  • the male thread extends spirally in the front-to-rear direction.
  • the third screw shaft Xc1 is located diagonally downward and to the left of the third auxiliary shaft Xc2 and extends parallel to the third screw shaft Xc1.
  • the third auxiliary shaft Xc2 is a D-cut shaft with a D-shaped cross section.
  • the third screw shaft Xc1 rotates when driven by the third motor Mc1.
  • the third auxiliary shaft Xc2 rotates when driven by the third auxiliary motor Mc2.
  • the pusher support portion 80C supports the pusher 5.
  • the configuration of the pusher support portion 80C is the same as that of the first grip support portion 80A shown in Figure 15 and the second grip support portion 80B shown in Figure 16.
  • the pusher support part 80C has a support base 83A, a second main gear 83B, and a second slave gear 83C.
  • the support base 83A, the second main gear 83B, and the second slave gear 83C correspond to the support base 81A, the first main gear 81B, and the first slave gear 81C of the first grip support part 80A shown in FIG. 15.
  • the first through hole 831, the second through hole 832, and the third through hole 833 formed in the support base 83A correspond to the first through hole 811, the second through hole 812, and the third through hole 813 formed in the support base 81A shown in FIG. 15, respectively.
  • the third screw shaft Xc1 is inserted into the first through hole 831.
  • the male thread of the third screw shaft Xc1 meshes with the female thread of the first through hole 831.
  • the third auxiliary shaft Xc2 is inserted into the second through hole 832.
  • the second through-hole 832 and the gear through-hole 83H of the second main gear 83B are aligned in a straight line in the front-to-rear direction.
  • the third auxiliary shaft Xc2 is inserted into the gear through-hole 83H.
  • the second main gear 83B is movable in the front-to-rear direction relative to the third auxiliary shaft Xc2.
  • the second main gear 83B rotates in response to the rotation of the third auxiliary shaft Xc2.
  • the second secondary gear 83C is provided at the rear end of the pusher 5.
  • the pusher 5 extends forward from the second secondary gear 83C.
  • the pusher 5 extends forward through the third through-hole 833.
  • the second secondary gear 83C meshes with the second primary gear 83B.
  • the second secondary gear 83C rotates in response to the rotation of the second primary gear 83B.
  • the operation of the third drive mechanism 8C when moving the pusher 5 in the front-rear direction is the same as the operation of the first drive mechanism 8A shown in Fig. 15.
  • the third drive mechanism 8C moves the pusher 5 in the front-rear direction in response to rotation of the third screw shaft Xc1 by driving of the third motor Mc1.
  • the third drive mechanism 8C also rotates the pusher 5 in response to rotation of the third auxiliary shaft Xc2 by driving of the third auxiliary motor Mc2.
  • the ligation gripping member 4A and the pusher 5 are arranged coaxially.
  • the eighth axis C8 of the first rod 41, the ninth axis C9 of the second rod 42, and the tenth axis C10 of the pusher 5 are arranged on the same straight line.
  • the pusher support portion 80C is arranged forward of the first grip support portion 80A. Movement of the first grip support portion 80A forward of the pusher support portion 80C is restricted by the rear surface of the pusher support portion 80C contacting the front surface of the first grip support portion 80A.
  • the motor driver Fr applies a DC voltage to the robot motor MR in response to a signal received from the controller 96, driving the robot motor MR.
  • the motor driver Fr also obtains the current value of the current flowing through the robot motor MR and the number of rotations of the robot motor MR detected by the encoder Zr, and sends these to the controller 96.
  • the ligation process will be described below in which the controller 96 of the robot R controls the ligation device 1 to ligate the object S to be ligated with the suture T.
  • the act of the controller 96 driving the motor by sending a signal to the driver will be referred to as "the controller 96 driving the motor.”
  • the ligation process is started with the ligation device 1 in an initial state (S11).
  • the initial state is as follows:
  • the main body 2A of the ligation device 1 is positioned posterior to the body to be ligated S inside the body.
  • the controller 96 drives the robot motor MR to operate the fourth operating wire (S13) in order to move the second jaw 3B from the close position to the distant position.
  • the second jaw 3B moves from the close position to the distant position (arrow Y11).
  • the main body 2A moves forward toward the body to be ligated S.
  • the body to be ligated S is positioned between the first jaw 3A and the second jaw 3B.
  • the controller 96 drives the robot motor MR to operate the first operating wire in order to move the tongue member 6 to the protruding position in the first movement direction Y1 shown in Figures 27 and 28 (S17).
  • the tongue member 6 moves from the intermediate position to the protruding position.
  • the thread T which is captured by the capture portion 64 of the tongue member 6, moves upstream in the first movement direction Y1 as the tongue member 6 moves and enters the slit 63.
  • the thread T is clamped on both the left and right sides by the slit 63.
  • the downstream end 60F of the tongue member 6 is inserted into the first jaw through-hole 33 of the first jaw 3A and protrudes upward (arrow Y13).
  • the downstream end 60F of the tongue member 6 faces forward toward the ligation grasping member 4A.
  • the tongue member 6 lifts the suture T held by the slit 63 upward.
  • the portion of the suture T extending between the tongue member 6 and the ligation target body S enters the first notch 40 and first partial notch 480 of the ligation grasping member 4A in the released state shown in Figure 24.
  • the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligation grasping member 4A to change from the released state to the semi-gripped state (S19).
  • the second rod 42 of the ligation grasping member 4A rotates relative to the first rod 41 (arrow Y14), and the ligation grasping member 4A enters the semi-gripped state.
  • the portion of the suture T extending between the tongue member 6 and the ligation target S is movably held by the first rod 41 and second rod 42 of the ligation grasping member 4A, which is now in the semi-gripped state.
  • the controller 96 drives the robot motor MR to operate the first operating wire in order to move the tongue member 6 from the protruding position to the intermediate position (S21).
  • the tongue member 6 moves in the second movement direction Y2 to the intermediate position (arrow Y15).
  • the thread T comes off the slit 63.
  • the thread T enters the capture portion 64, which is located upstream of the slit 63 in the second movement direction Y2, in other words, downstream of the first movement direction Y1, and is captured by the capture portion 64. Therefore, even if the thread T comes off the slit 63, it does not come off the tongue member 6.
  • the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligation gripping member 4A and the pusher 5 rearward (S23).
  • the ligation gripping member 4A and the pusher 5 move rearward (arrow Y16).
  • the front ends of the ligation gripping member 4A and the pusher 5 are positioned rearward of the cartridge 7 and forward of the loop forming section 2B.
  • the ligation gripping member 4A is in a semi-gripped state, and the suture T is movable relative to the first rod 41 and the second rod 42. Therefore, as the ligation gripping member 4A moves rearward, the suture T is unwound from the bobbin B. The suture T is wound around the object S to be ligated.
  • the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligating grasping member 4A to change from the semi-gripped state to the fully-gripped state (S25).
  • the second rod 42 of the ligating grasping member 4A rotates relative to the first rod 41 (arrow Y17), and the ligating grasping member 4A enters the fully-gripped state.
  • the portion of the thread T that has been unwound from the bobbin B is held immovably by the first rod 41 and second rod 42 of the ligating grasping member 4A, which is now in the fully-gripped state.
  • the controller 96 drives the robot motor MR to operate the first operating wire in order to move the tongue member 6 from the intermediate position to the protruding position (S27).
  • the portion of the suture T extending between the bobbin B and the ligation grasping member 4A moves from the capture portion 64 of the tongue member 6 toward the slit 63 and is clamped by the slit 63. With the suture T clamped, the tongue member 6 moves further toward the protruding position.
  • the downstream end 60F of the tongue member 6 is inserted into the first jaw through-hole 33 of the first jaw 3A and protrudes upward (arrow Y18).
  • the suture T is clamped in the slit 63.
  • the tongue member 6 lifts the suture T clamped in the slit 63 upward.
  • the portion of the suture T extending between the tongue member 6 and the ligature gripping member 4A is pressed from below against the blade 79A of the gripping suture cutter 79 of the cartridge 7.
  • the ligature gripping member 4A is in a fully gripping state, and the suture T is immovable relative to the first rod 41 and the second rod 42.
  • the suture T is clamped in the slit 63 of the tongue member 6, and the suture T is immovable relative to the tongue member 6. Therefore, the portion extending between the tongue member 6 and the ligature gripping member 4A is cut by the gripping suture cutter 79 (S27).
  • Thread T1 that has been cut and separated from the bobbin B side is held by the rearrangement holding member 4B at the first end ta on one side.
  • Thread T1 extends forward from the first end ta, wraps around the ligation target S, extends rearward, bends at the portion held by the ligation holding member 4A, extends forward, and reaches the second end tb on the other side.
  • Thread T1 is wound around the ligation target S.
  • the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligation grasping member 4A to change from the fully gripped state to the semi-gripped state (S29).
  • the second rod 42 of the ligation grasping member 4A rotates relative to the first rod 41 (arrow Y19), and the ligation grasping member 4A enters the semi-gripped state.
  • the portion of the suture T1 extending between the second end tb cut in step S27 and the portion wound around the ligation target S is held by the first rod 41 and second rod 42 of the ligation grasping member 4A, which is now in the semi-gripped state.
  • the controller 96 drives the robot motor MR to operate the first operating wire in order to move the tongue member 6 from the protruding position to the intermediate position (S31).
  • the tongue member 6 moves in the second movement direction Y2 to the intermediate position (arrow Y20).
  • the thread T leaves the slit 63 and is captured by the capture portion 64.
  • the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligature grasping member 4A and the pusher 5 rearward (S33).
  • the ligature grasping member 4A and the pusher 5 move rearward (arrow Y21).
  • the front ends of the ligature grasping member 4A and the pusher 5 move rearward behind the loop forming section 2B.
  • the ligature grasping member 4A is in a semi-gripping state, and the suture T1 can move relative to the first rod 41 and the second rod 42.
  • the second end tb of the suture T1 passes rearward through the first loop P1 and the second loop P2 and moves to a position close to the first rod 41 and the second rod 42 of the ligature grasping member 4A.
  • the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligating grasping member 4A to change from the semi-gripped state to the fully-gripped state (S35).
  • the second rod 42 of the ligating grasping member 4A rotates relative to the first rod 41 (arrow Y22), and the ligating grasping member 4A enters the fully-gripped state.
  • the vicinity of the second end tb of the suture T1 is held by the first rod 41 and second rod 42 of the ligating grasping member 4A, which is now in the fully-gripped state.
  • the controller 96 drives the first motor Ma1 and the third motor Mc1 to slightly move the ligation gripping member 4A and the pusher 5 forward (S37). As shown in Figure 44, the ligation gripping member 4A and the pusher 5 move slightly forward (arrow Y23). The front ends of the ligation gripping member 4A and the pusher 5 approach the loop forming portion 2B from behind. This releases the tension in the suture T1 between the portion wound around the ligation target S and the second end tb.
  • the controller 96 drives the robot motor MR to operate the third operating wire in order to drive the loop forming unit 2B (S39).
  • the first loop shaft 46 and the second loop shaft 56 rotate 360 degrees in the first rotation direction R1 from the third rotation position.
  • the first loop P1 disengages from the first loop shaft 46
  • the second loop P2 disengages from the second loop shaft 56.
  • the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligation grasping member 4A and the pusher 5 forward (S41).
  • the ligation grasping member 4A and the pusher 5 move forward (arrow Y24).
  • the front ends of the ligation grasping member 4A and the pusher 5 move to the vicinity of the ligation target body S.
  • the pusher 5 moves the first loop P1 and the second loop P2 to the vicinity of the ligation target body S.
  • FIG. 47 shows the first loop P1 and the second loop P2 positioned near the ligation target body S.
  • the controller 96 also drives the second motor Mb1 to move the rearwardly repositioning gripping member 4B (S43). As shown in FIG. 46, the rearwardly repositioning gripping member 4B moves (arrow Y25). This reduces slack in the thread T1 caused by the movement of the first loop P1 and the second loop P2. Next, the controller 96 executes a tightening process to tighten the first loop P1 and the second loop P2 (S45).
  • the controller 96 drives the second motor Mb1 to move the rearwardly repositioning gripping member 4B (S101).
  • the controller 96 receives and acquires from the motor driver Fb1 the current value flowing through the second motor Mb1 in response to the driving of the second motor Mb1 by the motor driver Fb1 (S103).
  • judgment condition G7 if, after a change from the fourth state H21 to the fifth state H22, the second derivative value becomes smaller than the maximum value of the maximum point by a predetermined third threshold value Th3 or more, it is judged that the rearward movement of the rearrangement gripping member 4B should be stopped. More specifically, if a maximum point is detected after a change to the fifth state H22, the controller 96 identifies the maximum value of the maximum point. If the second derivative value becomes smaller than the identified maximum value by the third threshold value Th3 or more, the controller 96 judges that the rearward movement of the rearrangement gripping member 4B should be stopped.
  • the controller 96 receives and acquires from the motor driver Fb1 the current value flowing through the second motor Mb1 in response to the drive of the second motor Mb1 by the motor driver Fb1 (S113). Based on the acquired current value, the controller 96 determines whether or not to stop the rearward movement of the rearrangement gripping member 4B in accordance with one of the judgment conditions G1 to G9 selected in S111 (S115). If the controller 96 determines not to stop the rearward movement of the rearrangement gripping member 4B (S115: NO), the process returns to S113 and is repeated. In this case, as shown in FIG. 46, the rearrangement gripping member 4B moves rearward (arrow Y25). This tightens the first loop P1 and the second loop P2.
  • controller 96 determines that the rearward movement of the rearrangement gripping member 4B should be stopped (S115: YES), it stops driving the second motor Mb1 to stop the movement of the rearrangement gripping member 4B (S117).
  • the controller 96 then drives the first motor Ma1 to move the ligation grasping member 4A backward (S47). As shown in FIG. 48, the ligation grasping member 4A moves backward (arrow Y26). The controller 96 also drives the second motor Mb1 to move the rearrangement grasping member 4B forward (S47). As shown in FIG. 48, the rearrangement grasping member 4B moves forward (arrow Y27).
  • the movement of the ligation gripping member 4A and the rearrangement gripping member 4B causes the first loop P1 shown in Figure 47 to extend. As shown in Figure 49, a new first loop P11 is formed in the portion of the thread T1 between the second loop P2 and the first end ta. This forms a man's knot K, and the object to be ligated S is ligated with the thread T1.
  • the controller 96 drives the first auxiliary motor Ma2 to rotate the second rod 42 of the ligating grasping member 4A to change from the fully gripped state to the released state (S49).
  • the second rod 42 of the ligating grasping member 4A rotates relative to the first rod 41 (arrow Y28), and the ligating grasping member 4A enters the released state.
  • the vicinity of the second end tb of the suture T1 is released from the first rod 41 and second rod 42 of the ligating grasping member 4A.
  • the controller 96 drives the second motor Mb1 to move the rearrangement gripping member 4B forward (S55). As shown in Figure 52, the rearrangement gripping member 4B, which holds the first end ta of the yarn T1, moves forward (arrow Y31).
  • the controller 96 continues to rotate the pulley 27 of the jaw body 20A, and continues to rotate the reel member 73 of the cartridge 7 (arrow Y33). As a result, the yarn T11 is completely wound onto the reel member 73 (S61).
  • the wound yarn T11 is stored in the first storage section 71B of the storage recess 71.
  • the volume of the first storage section 71B is adjusted to be at least twice the total volume of the yarn T11 wound onto the reel member 73 through the above process, and less than the total volume of the yarn T wound around the bobbin B in an uncompressed state.
  • the controller 96 drives the robot motor MR to operate the first operating wire in order to move the tongue member 6 from the intermediate position to the protruding position (S73).
  • the thread T captured by the capture portion 64 enters the slit 63 and is clamped by the slit 63.
  • the tongue member 6 With the thread T clamped, the tongue member 6 further moves in the first movement direction Y1 toward the protruding position. As shown in Figure 59, the downstream end 60F of the tongue member 6 is inserted into the first jaw through-hole 33 of the first jaw 3A and protrudes upward (arrow Y53). The tongue member 6 lifts the thread T clamped by the slit 63 upward. At this time, the tip of the thread T enters the first notch 40 and the first partial notch 480 of the released rearrangement gripping member 4B. The downstream end 60F of the tongue member 6 faces forward relative to the rearrangement gripping member 4B.
  • the controller 96 drives the second auxiliary motor Mb2 to rotate the second rod 44 of the rearrangement gripping member 4B to change from the released state to the fully gripped state (S75).
  • the second rod 44 of the rearrangement gripping member 4B rotates relative to the first rod 43 (arrow Y54), and the rearrangement gripping member 4B enters the fully gripped state.
  • the tip of the yarn T is held immovably by the first rod 43 and second rod 44 of the rearrangement gripping member 4B, which is now in the fully gripped state.
  • the controller 96 drives the robot motor MR to operate the first operating wire in order to move the tongue member 6 from the protruding position to the intermediate position (S77).
  • the tongue member 6 moves in the second movement direction Y2 to the intermediate position (arrow Y55).
  • the thread T leaves the slit 63 and is captured by the capture portion 64.
  • the controller 96 drives the second motor Mb1 to move the rearwardly repositioning gripping member 4B (S79). As shown in Figure 61, the rearwardly repositioning gripping member 4B moves (arrow Y56). The front end of the rearwardly repositioning gripping member 4B is positioned rearwardly of the loop forming section 2B. Note that the rearwardly repositioning gripping member 4B is in a fully gripping state, and the yarn T cannot move relative to the first rod 43 and the second rod 44. Therefore, as the rearwardly repositioning gripping member 4B moves, the yarn T is unwound from the bobbin B.
  • the controller 96 drives the robot motor MR to drive the loop forming unit 2B and operate the third operating wire (S81).
  • the first loop shaft 46 and the second loop shaft 56 rotate 90 degrees in the first rotation direction R1 from the first rotation position to the second rotation position. This moves the thread T arranged along the second groove 460A to the fourth groove 460B and the fifth groove 460C, and moves the thread T arranged along the third groove 560A to the sixth groove 560B and the seventh groove 560C.
  • the controller 96 drives the second motor Mb1 to move the rearwardly repositioning gripping member 4B (S83). As shown in FIG. 63, the rearwardly repositioning gripping member 4B moves rearward (arrow Y57). The front end of the rearwardly repositioning gripping member 4B reaches the second branch portion 21C of the first hole 21.
  • the controller 96 drives the second motor Mb1 to move the rearrangement gripping member 4B forward (S85).
  • the rearrangement gripping member 4B moves slightly forward (arrow Y58).
  • the controller 96 also drives the robot motor MR to drive the loop forming unit 2B and operate the third operating wire (S87).
  • the first loop shaft 46 and the second loop shaft 56 rotate 270 degrees in the second rotation direction R2 from the second rotation position toward the third rotation position.
  • a first loop P1 is formed on the first loop shaft 46
  • a second loop P2 is formed on the second loop shaft 56, as shown in FIG. 64.
  • the controller 96 drives the third motor Mc1 to move the pusher 5 forward (S89).
  • the front end of the pusher 5 protrudes forward beyond the ligation and gripping member 4A.
  • the controller 96 drives the first motor Ma1 and the third motor Mc1 to move the ligation and gripping member 4A and the pusher 5 forward (S91).
  • the ligation and gripping member 4A and the pusher 5 pass through the first loop P1 formed on the first loop shaft 46 of the loop forming section 2B and the second loop P2 formed on the second loop shaft 56.
  • the controller 96 drives the third auxiliary motor Mc2 to alternately rotate the pusher 5 each time the front end of the pusher 5 passes the thread T forming the first loop P1 and the second loop P2 (S93).
  • the pusher 5 rotates alternately 180 degrees to one side and the other side about the tenth axis C10 (arrow Y60). This allows the pusher 5 to move forward without getting caught on the first loop P1 and the second loop P2.
  • the front ends of the ligation gripping member 4A and the pusher 5 reach the vicinity of the front end of the main body 2A. This returns the ligation device 1 to its initial state.
  • the repositioning grasping member 4B of the ligation device 1 has a first rod 43 and a second rod 44.
  • the first notch 40 of the first rod 43 extends rearward from the front end.
  • the second notch 48 of the second rod 44 includes a first partial notch 480 extending rearward from the front end. Therefore, in the ligation device 1, the length of the repositioning grasping member 4B in the anterior-posterior direction can be made shorter compared to when the first notch is provided on the side of the first rod 43 or the second notch is provided on the side of the second rod 44, thereby facilitating movement of the repositioning grasping member 4B within the body.
  • the second rod 44 further includes a second partial notch 481 extending circumferentially from the rear end of the first partial notch 480.
  • the extension direction of the first notch 40 of the first rod 43 intersects with the extension direction of the second partial notch 481 of the second rod 44.
  • the rearrangement gripping member 4B clamps the suture T between the first notch 40 and the second partial notch 481 as the second rod 44 rotates relative to the first rod 43.
  • the ligation device 1 can adjust the force with which it grips the suture T by controlling the amount of relative rotation of the second rod 44 with respect to the first rod 43.
  • the thickness of the cylindrical body 45 of the first rod 43 is greater than the thickness of the suture T.
  • the suture T held by the rearrangement gripping member 4B can be positioned further inward than the outer surface of the cylindrical body 45 of the first rod 43.
  • the ligation device 1 can prevent the suture T held by the rearrangement gripping member 4B from protruding outward from the outer surface of the cylindrical body 45 of the first rod 43.
  • the ligation device 1 can prevent the suture T from getting caught in the first hole 21 of the main body 2A, the eleventh hole 32B of the jaw main body 20A, and the first circular portion 761 and second circular portion 762 of the cartridge 7, through which the rearrangement gripping member 4B holding the suture T passes as it moves.
  • the tongue member 6 holds the thread T unwound from the bobbin B and guides the thread T toward the first jaw through-hole 33 provided in the first jaw 3A.
  • the ligation device 1 can reduce the size of the jaw members 3, including the first jaw 3A and second jaw 3B, compared to when the tongue member 6 is formed in a rod shape.
  • the tongue member 6 further has a capture portion 64 downstream of the slit 63 in the first movement direction Y1.
  • the capture portion 64 prevents the thread T, which has detached from the slit 63, from becoming detached from the tongue member 6.
  • the second rod 444 is cylindrical.
  • the second notch 17 of the second rod 444 is a recess formed in the front end 47F and extends linearly rearward.
  • the second notch 17 is connected in a direction perpendicular to the ninth axis C9.
  • the first partial notches 16A of the first one-side notch 161 and the first other-side notch 162 of the first rod 433 overlap with the second notch 17 of the second rod 444 in the radial direction centered on the eighth axis C8 and the ninth axis C9.
  • the thread T can enter the first ligating member 401 from this portion.
  • the second rod 441 is cylindrical.
  • the second notch 11 of the second rod 441 has a second one-side notch 111 and a second other-side notch 112.
  • the second one-side notch 111 and the second other-side notch 112 face each other in a direction perpendicular to the ninth axis C9.
  • the second one-side notch 111 and the second other-side notch 112 are recesses formed in the front end portion 47F.
  • the second one-side notch 111 and the second other-side notch 112 have a first partial notch 11A and a second partial notch 11B, respectively.
  • the first partial notch 11A extends linearly rearward.
  • the second partial notch 11B extends clockwise from the rear end of the first partial notch 11A along the circumferential direction centered on the ninth axis C9 when viewed from the front.
  • the second ligating member 402 can be switched from a released state to a semi-gripped state and then to a fully-gripped state by rotating the second rod 441 counterclockwise relative to the first rod 43 when viewed from the front.
  • the first one-side notch 461 of the first rod 43 and the first partial notch 11A of the second one-side notch 111 of the second rod 441 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9. Furthermore, although not shown, the first other-side notch 462 of the first rod 43 and the first partial notch 11A of the second other-side notch 112 of the second rod 441 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9.
  • the thread T can enter the second ligating member 402 from these portions.
  • the third ligating member 403 shown in Figure 69 differs from the second ligating member 402 in that it has a first rod 431 instead of the first rod 43 of the second ligating member 402.
  • the first rod 431 is cylindrical.
  • the first notch 12 of the first rod 431 has a first one-side notch 121 and a first other-side notch 122.
  • the first one-side notch 121 and the first other-side notch 122 face each other in a direction perpendicular to the eighth axis C8.
  • the first one-side notch 121 and the first other-side notch 122 are each recesses formed in the front end portion 45F.
  • the first one-side notch 121 and the first other-side notch 122 each extend rearward at an angle counterclockwise when viewed from the front.
  • the third ligation member 403 can be switched from a released state to a semi-gripped state and then to a fully-gripped state by rotating the second rod 441 counterclockwise relative to the first rod 431 when viewed from the front.
  • the front end of the first one-side notch 121 of the first rod 431 and the front end of the first partial notch 11A of the second one-side notch 111 of the second rod 441 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9. Furthermore, although not shown, the front end of the first other-side notch 122 of the first rod 431 and the front end of the first partial notch 11A of the second other-side notch 112 of the second rod 441 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9.
  • the thread T can enter the third ligation member 403 from these portions.
  • the fourth ligation member 404 shown in Figure 71 differs from the repositioning grasping member 4B in that it has a second rod 442 instead of the second rod 44 of the repositioning grasping member 4B.
  • the second rod 442 is cylindrical.
  • the second notch 13 of the second rod 442 has a second one-side notch 131 and a second other-side notch 132.
  • the second one-side notch 131 and the second other-side notch 132 face each other in a direction perpendicular to the ninth axis C9.
  • the second one-side notch 131 and the second other-side notch 132 are each recesses formed in the front end portion 47F.
  • the second one-side notch 131 and the second other-side notch 132 each extend rearward at an angle clockwise when viewed from the front.
  • the fourth ligation member 404 can be switched from a released state to a semi-gripped state and then to a fully-gripped state by rotating the second rod 442 counterclockwise relative to the first rod 43 when viewed from the front.
  • the front end of the first one-side notch 461 of the first rod 43 and the front end of the second one-side notch 131 of the second rod 442 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9. Furthermore, although not shown, the front end of the first other-side notch 462 of the first rod 43 and the front end of the second other-side notch 132 of the second rod 442 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9.
  • the thread T can enter the fourth ligation member 404 from these portions.
  • the fifth ligating member 405 shown in Figure 73 has the first rod 431 of the third ligating member 403 shown in Figure 69 and the second rod 442 of the fourth ligating member 404 shown in Figure 71.
  • the fifth ligating member 405 can be switched from a released state, through a semi-gripped state, to a fully gripped state by rotating the second rod 442 relative to the first rod 431 counterclockwise when viewed from the front.
  • the front end of the first one-side notch 121 of the first rod 431 and the front end of the second one-side notch 131 of the second rod 442 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9. Furthermore, although not shown, the front end of the first other-side notch 122 of the first rod 431 and the front end of the second other-side notch 132 of the second rod 442 overlap in the radial direction centered on the eighth axis C8 and the ninth axis C9.
  • the thread T can enter the fifth ligation member 405 from these portions.
  • the sixth ligation member 406 shown in Figure 75 differs from the repositioning grasping member 4B in that it has a first rod 432 instead of the first rod 43 of the repositioning grasping member 4B, and a second rod 443 instead of the second rod 44.
  • the first rod 432 is cylindrical.
  • the first notch 15 of the first rod 432 has a first one-side notch 151 and a first other-side notch 152.
  • the first one-side notch 151 and the first other-side notch 152 face each other in a direction perpendicular to the eighth axis C8.
  • the first one-side notch 151 and the first other-side notch 122 are each recessed portions formed in the front end portion 45F.
  • the first one-side notch 151 extends rearward at an incline in the clockwise direction when viewed from the front.
  • the first other-side notch 152 extends rearward at an incline in the counterclockwise direction when viewed from the front.
  • the sixth ligation member 406 can be switched from a released state to a semi-gripped state and then to a fully-gripped state by moving the second rod 443 forward relative to the first rod 432.
  • the jaw members 3 may hold the ligated body S by moving the first jaw 3A relative to the second jaw 3B.
  • the repositioning gripping member 4B may be switched between a released state, a semi-gripped state, and a fully-gripped state by rotating the first rod 43 relative to the second rod 44.
  • the width of the first notch 40 of the first rod 43 may not be uniform in the anterior-posterior direction.
  • the width of the first notch 40 of the first rod 43 may be greatest at the front end and gradually decrease toward the rear.
  • the width of the first partial notch 480 of the second notch 48 of the second rod 44 may not be uniform in the anterior-posterior direction.
  • the width of the first partial notch 480 of the second notch 48 of the second rod 44 may be greatest at the front end and gradually decrease toward the rear.
  • the rearrangement gripping member 4B may be switched between a released state, a semi-gripped state, and a full-gripped state by rotating the first rod 43 and the second rod 44.
  • the thickness D1 of the cylindrical body 45 of the first rod 43 may be equal to or smaller than the thickness of the thread T.
  • the width of the slit 63 may gradually decrease toward the upstream side in the first movement direction Y1. In this case, the width of the downstream end of the slit 63 in the first movement direction Y1 may be greater than the thickness of the thread T.
  • the left-right position of the slit 63 may be located to the left or right of the left-right center of the plate body 60.
  • the tongue member 6 may not be provided with a capture portion 64.
  • the tongue member 6 does not have to be plate-shaped, and may be, for example, rod-shaped.
  • the rear is an example of a "first direction” in the present invention.
  • the rearrangement gripping member 4B is an example of a "gripping member” in the present invention.
  • the bobbin B is an example of a "storage section” in the present invention.
  • the direction extending along the imaginary line Q1 is an example of a "first inclination direction” in the present invention.
  • the direction extending along the imaginary line Q2 is an example of a "second inclination direction” in the present invention.

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Abstract

L'invention concerne un dispositif de ligature qui permet de raccourcir la longueur d'un élément de préhension pour faciliter, de ce fait, la mobilité. Le dispositif de ligature est pourvu : d'un élément de mâchoire qui comporte une première mâchoire et une seconde mâchoire, qui se déplace par rapport à la première mâchoire, et qui maintient un corps à ligaturer entre la première mâchoire et la seconde mâchoire; et d'un élément de préhension qui se déplace dans une première direction à l'opposé de l'élément de mâchoire, dans un état dans lequel une partie d'un fil passant à travers la première mâchoire et la seconde mâchoire est saisie. L'élément de préhension comporte une première tige (41) et une seconde tige (42) qui est disposée coaxialement à la première tige (41) et qui tourne par rapport à la première tige (41) dans la direction circonférentielle de la première tige (41). La première tige (41) a une forme tubulaire, et la seconde tige (42) a une forme de barre. La première tige (41) présente une première échancrure (40). La seconde tige (42) présente une seconde échancrure. Les positions des parties de la première échancrure (40) et de la seconde échancrure dans le sens avant-arrière coïncident l'une avec l'autre. La direction d'extension d'au moins une partie de la seconde échancrure croise la direction d'extension de la première échancrure.
PCT/JP2025/008974 2024-03-28 2025-03-11 Dispositif de ligature Pending WO2025204841A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2024-054366 2024-03-28
JP2024054366A JP2025152460A (ja) 2024-03-28 2024-03-28 結紮装置

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Publication Number Publication Date
WO2025204841A1 true WO2025204841A1 (fr) 2025-10-02

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PCT/JP2025/008974 Pending WO2025204841A1 (fr) 2024-03-28 2025-03-11 Dispositif de ligature

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JP (1) JP2025152460A (fr)
WO (1) WO2025204841A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018037953A1 (fr) * 2016-08-23 2018-03-01 株式会社カネカ Aiguille de suture médicale
US20190015098A1 (en) * 2017-07-11 2019-01-17 Mark SCHAMBLIN Suture locking free needle
WO2023095875A1 (fr) * 2021-11-26 2023-06-01 ブラザー工業株式会社 Dispositif de ligature

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018037953A1 (fr) * 2016-08-23 2018-03-01 株式会社カネカ Aiguille de suture médicale
US20190015098A1 (en) * 2017-07-11 2019-01-17 Mark SCHAMBLIN Suture locking free needle
WO2023095875A1 (fr) * 2021-11-26 2023-06-01 ブラザー工業株式会社 Dispositif de ligature

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