WO2016063851A1

WO2016063851A1 - Clipping device

Info

Publication number: WO2016063851A1
Application number: PCT/JP2015/079520
Authority: WO
Inventors: 徳和佐藤; 全弘斎藤
Original assignee: 並木精密宝石株式会社
Priority date: 2014-10-21
Filing date: 2015-10-20
Publication date: 2016-04-28
Also published as: JPWO2016063851A1

Abstract

Provided is a clipping device, which comprises a plurality of clipping portions (10) which open and close by rotating with a rotation fulcrum part (21) as a fulcrum thereof, a tubular member (20) which supports the rotation fulcrum part (21) such that the leading end sides of the clipping portions (10) protrude forward, and extend-retract mechanisms (30) which make linear motion members (31) extend and retract within the tubular member (20), and in which the linear motion members (31) which extend and retract by the extend-retract mechanisms (30) are made to engage with the clipping portions (10), thereby rotating the clipping portions (10). A plurality of the extend-retract mechanisms (30) is provided to respectively correspond to the plurality of clipping portions (10). Each of the extend-retract mechanisms (30) is linearly positioned to the rear side of each of the clipping portions (10). Each of the plurality of the extend-retract mechanisms (30) is controlled independently.

Description

Pinching device

The present invention relates to a pinching device that can be used for pinching medical tools, organs, and the like, and pinching organs at a medical site.

Conventionally, in this kind of invention, as described in Patent Document 1, for example, a plurality of clip pieces (gripping members 1 and 2) that open and close by rotating around a rotation fulcrum portion and the clip A cylindrical member (fixed tube 10) supporting the rotating fulcrum portion so that the front end side of the piece (gripping members 1, 2) protrudes forward, and the cylindrical member (fixed tube 10) is inserted. There is a medical forceps provided with a plurality of wires (W) and configured to rotate the pinching pieces (gripping members 1, 2) by pulling the wire (W) to one or the other.

By the way, when the conventional technique is reduced in size to be applied to laparoscopic surgery or the like, as the outer diameter of the cylindrical member is reduced, an extremely thin wire is selected. For this reason, the durability of the wire is lowered, and the wire is easily expanded and contracted. Therefore, the operation of the clip piece is delayed with respect to the wire operation, and the controllability is deteriorated or the operability is lowered. There is a risk that.

Japanese Patent No. 3075404

The present invention has been made in view of the above-described conventional circumstances, and a problem to be solved by the present invention is to provide a pinching device that can improve operability and controllability.

One means for solving the above-mentioned problem is that the pivot fulcrum is configured such that a plurality of clip pieces that open and close by rotating with the pivot fulcrum portion as a fulcrum and the front end side of the clip piece project forward. A cylindrical member that supports the portion, and an advancing / retracting mechanism that moves the linearly moving member back and forth within the cylindrical member, and the linearly moving member that is advanced and retracted by the advancing / retracting mechanism is engaged with the clamping piece, A plurality of the advancing / retreating mechanisms corresponding to the plurality of the clamping pieces, and the advancing / retreating mechanisms are arranged on the rear side of the clamping pieces, The plurality of advance / retreat mechanisms are independently controlled.

Since the present invention is configured as described above, the operability and controllability can be improved.

It is a perspective view which shows an example of the clamping device which concerns on this invention. It is an expansion perspective view which shows an example of the pinch piece in the same pinching apparatus. It is a principal part structure figure in the same clamping device, and shows the state which closed both clamping pieces. It is principal part structure figure in the same clamping device, and shows the state which opened both clamping pieces. It is a principal part structure figure in the same clamping device, and shows the state which closed both clamping pieces and moved to one side.

The first feature of the present embodiment is that a plurality of sandwiching pieces that are opened and closed by pivoting about a pivoting fulcrum part, and the pivoting fulcrum part projecting forward from the front end side of the sandwiching piece. And a forward / backward mechanism for moving the linear motion member forward / backward in the cylindrical member, the linear motion member advanced / retracted by the forward / backward mechanism is engaged with the pinch piece, and the pinch piece is A pinch device configured to rotate, comprising a plurality of the advancing and retracting mechanisms so as to correspond to the plurality of pinching pieces, respectively, and linearly arranging the respective advancing and retracting mechanisms on the rear side of the pinching pieces. These multiple advance / retreat mechanisms are controlled independently.
Here, the “clamping device” includes a mode in which an object is held on the front end side of the plurality of clip pieces, a mode in which an object is clipped on the front end side of the plurality of clip pieces, and the like. .
According to the above-described configuration, the durability and the operation performance are not deteriorated due to the elongation, slackness, strength, etc. of the wire as in the prior art. It can be operated.

As a second feature, in order to obtain a specific mode in which the operability is further improved, the sandwiching piece has a shaft hole through which the rotation fulcrum portion is inserted on the rear end side, and a tube is formed from the shaft hole. The engagement member elongated in a direction approaching and separating from the shaft hole at a position away from the radial direction of the cylindrical member, and the linear motion member engages with the engagement hole and An engagement shaft for rotating the clip piece is provided.

As a third feature, in order to further improve the operability, two of the clip pieces are supported by the common rotation fulcrum, and each clip piece extends so as to protrude forward. Formed in a substantially L shape having a projecting piece portion and a base piece portion bent in a substantially orthogonal direction on the rear end side of the projecting piece portion. It has an engaged hole.

Next, a preferred embodiment having the above features will be described in detail with reference to the drawings.

The pinching device 1 includes a plurality of pinching pieces 10 that are opened and closed by turning around a turning fulcrum portion, and a tube that supports the turning fulcrum portion 21 so that the front end side of the pinching piece 10 protrudes forward. A linear member 31 and an advancing / retracting mechanism 30 for advancing / retreating the linear motion member 31 in the cylindrical member 20. Is configured to rotate.

Two sandwich pieces 10 are provided so as to overlap in a direction orthogonal to the center of the cylindrical member 20. These two

pinching pieces

10 and 10 are rotatably supported by a common rotation fulcrum 21 (shaft member) inserted through the rear end side. The two

sandwiching pieces

10 and 10 constitute forceps capable of sandwiching an object. The two

sandwiching pieces

10 and 10 rotate so as to bring the

sandwiching surfaces

11 and 11 on the front end side closer to each other, and perform a closing operation. , 11 are rotated so as to be spaced apart from each other and open (see FIG. 1).

As shown in FIG. 2, each sandwich piece 10 includes a projecting piece portion 10a extending so as to protrude forward, and a base piece portion 10b bent in a substantially orthogonal direction on the rear end side of the projecting piece portion 10a. Are formed in a substantially L shape.
A shaft hole 15 through which the rotation fulcrum portion 21 is inserted is provided at a position near the center of the cylindrical member 20 in the clip piece 10b. In the pinching piece 10b, at a position away from the shaft hole 15 in the radially outward direction of the cylindrical member 20 (rightward according to FIG. 2), the object is long in the direction of approaching and separating from the shaft hole 15. An engagement hole 16 is provided.

The

sandwiching pieces

10 and 10 on both sides are rotatably supported by a common rotation fulcrum part 21 with the base piece part 10b on the rear end side overlapped (see FIG. 1).

The cylindrical member 20 is a long cylindrical member, and has support piece portions 20a protruding forward on both sides in the radial direction on the front end side thereof, and rotates between the support piece portions 20a on both sides. The fulcrum part 21 is supported.
The cylindrical member 20 houses the advance / retreat mechanism 30, the power supply wiring of the advance / retreat mechanism 30, the control board, and the like.
In addition, although the cylindrical member 20 of the illustrated example improves the maintainability with respect to the internal advance / retreat mechanism 30 and the like by providing the notch portion 25 in a part of the peripheral wall, as another example, the notch portion 25 is provided. May be omitted.

The advance / retreat mechanism 30 is a mechanism in which the linear motion member 31 is advanced and retracted by the rotation drive source 33.
A plurality (two in the illustrated example) of the advance / retreat mechanism 30 is provided corresponding to each of the plurality of clip pieces 10. Each advance / retreat mechanism 30 is linearly arranged on the rear side of the corresponding clip piece 10.
The plurality of advance / retreat mechanisms 30 are independently controlled by a control circuit (not shown).

Rotational drive source 33 is an electric gear motor, and for example, the rotational force of the motor may be adjusted to an appropriate rotational speed with a planetary gear and output. A feed screw 32 is provided on the front end side of the output shaft in the rotational drive source, and a linear motion member 31 is screwed into the feed screw 32.

The linear motion member 31 has a female screw (not shown) screwed into the feed screw 32 therein. The linear motion member 31 is engaged with the tubular member 20 so as not to rotate but to advance and retreat. In this configuration, for example, the outer peripheral portion of the linear motion member 31 is formed in a prismatic shape, and the inner surface of the cylindrical member 20 is fitted to the outer peripheral portion of the linear motion member 31 to guide the outer peripheral portion in the front-rear direction. And a mode in which a convex portion is provided on one of the outer peripheral portion of the linear motion member 31 and the inner peripheral portion of the cylindrical member 20 and a groove for guiding the convex portion in the front-rear direction is provided on the other side. That's fine.

The front end side of the linear motion member 31 is formed in a bifurcated shape sandwiching the rear end side portion of the sandwiching piece 10 (see FIG. 1), and the bifurcated portion is engaged so as to be orthogonal to the center line of the tubular member 20. The shaft 34 is fixed. The engaging shaft 34 is inserted into the engaged hole 16 (see FIG. 2) of the sandwiching piece 10, and moves forward to rotate the sandwiching piece 10 in the closing direction (see FIG. 4) and retreat. Then, the pinching piece 10 is rotated in the opening direction.

Next, the characteristic effect of the pinching device 1 having the above configuration will be described in detail.
First, as shown in FIG. 3, a state in which both sandwiching

pieces

10 and 10 are closed is an initial state. In this initial state, when the

linear motion members

31 and 31 are moved backward by both the advancing and retracting

mechanisms

30 and 30, the engagement shaft 34 on the rear end side of the clip piece 10 rotates rearward. The front end of is open.
Further, in the opened state, when the

linear motion members

31 and 31 are advanced by both the advancing and retracting

mechanisms

30 and 30, the front end sides of the sandwiching

pieces

10 and 10 are closed by the reverse operation to the above ( 4), the object A can be held between the holding

surfaces

11 and 11.

In the initial state (see FIG. 3), when one linear motion member 31 is advanced by one advance / retreat mechanism 30 and the other linear motion member 31 is retracted by the other advance / retreat mechanism 30, FIG. As shown in FIG. 5, the front end side of the

clip pieces

10, 10 can be moved to one side while maintaining the closed state of the

clip pieces

10, 10.
In addition, by independently controlling the plurality of advancing and retracting mechanisms 30, the movement of all patterns such as closing the

clip pieces

10, 10 in the closed state to the opposite side or rotating only one clip piece 10 is possible. Is possible. In addition, the responsiveness of the clip 10 is better than that of the conventional technique using a wire, and the output can be easily increased by selecting the rotation drive source 33.
Further, since the advancing / retreating mechanism 30 is arranged linearly on the rear side of each clip piece 10, a relatively thin and small configuration can be achieved.
Therefore, it is possible to provide a compact pinching device 1 with good operability and controllability.

In addition, according to the said Example, forceps was comprised by the two pinching

pieces

10 and 10, but as another example, a blade is provided in each pinching piece 10 and an object is formed by the two pinching

pieces

10 and 10. It is also possible to configure scissors that cut the squeeze or to open and close three or more sandwich pieces 10.

Moreover, according to the said Example, although the electric motor and the feed screw 32 were used as the advancing / retreating mechanism 30, as an other example of the advancing / retreating mechanism 30, an air motor, a hydraulic motor, and another rotary motor can also be used. It is.
Further, as another example of the advance / retreat mechanism 30, it is possible to adopt a structure in which the linear motion member 31 is directly advanced and retracted by a linear motion such as a vibration type linear motion mechanism or a linear drive source of an electromagnetic solenoid.

Also, a rotation mechanism may be arranged immediately behind the pinching device 1 of the above embodiment so that the pinching device 1 itself can be driven to rotate. In the case of such a configuration, the degree of freedom and the movable range of the pinching device 1 can be expanded.

The pinching device of the present invention clamps a medical tool, an organ, or the like in a manipulator, a forceps device, a cell manipulation manipulator, various inspection devices, etc., particularly in a surgical support robot used in an advanced medical field. It is useful for. Moreover, even if it is other than a medical related use, it can be used conveniently also for various micromanipulators which need to operate and process a minute target object precisely in a limited space.

1: Clipping device 10: Clipping piece 10a: Projection piece 10b: Base piece 15: Shaft hole 16: Engaged hole 20: Cylindrical member 21: Rotating fulcrum 30: Advance / retreat mechanism 31: Linear motion member 32: Feed screw 33: Rotation drive source 34: Engagement shaft A: Object

Claims

A plurality of sandwiching pieces that open and close by rotating about the pivoting fulcrum, a cylindrical member that supports the pivoting fulcrum so that the front end side of the sandwiching piece protrudes forward, and the cylinder An advancing / retracting mechanism for advancing / retracting the linear motion member within the shaped member, and the linear motion member advancing / retreating by the advance / retreat mechanism is engaged with the clamping piece to rotate the clamping piece. And
A plurality of the advance / retreat mechanisms are provided so as to correspond to the plurality of the clip pieces, respectively, and the advance / retreat mechanisms are arranged on the rear side of the clip pieces, and the plurality of the advance / retreat mechanisms are controlled independently. A pinch device characterized by that.
The sandwiching piece has a shaft hole for inserting the rotation fulcrum portion on the rear end side thereof, and approaches and separates from the shaft hole at a position away from the shaft hole in the radially outward direction of the cylindrical member. 2. The engagement hole elongated in a direction, and the linear motion member includes an engagement shaft that engages with the engagement hole and rotates the pinch piece. Pinch device.
Two of the clip pieces are supported and supported by the common pivot point,
Each of the sandwiching pieces is formed in a substantially L shape having a projecting piece portion extending so as to project forward and a base piece portion bent in a substantially orthogonal direction on the rear end side of the projecting piece portion. The pinching device according to claim 2, wherein the base piece portion has the rotation fulcrum portion and the engaged hole.