CN101579225A - 电动弯曲操作装置及具有该装置的医疗处置*** - Google Patents
电动弯曲操作装置及具有该装置的医疗处置*** Download PDFInfo
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Abstract
本发明提供一种电动弯曲操作装置及具有该装置的医疗处置***,该电动弯曲操作装置具有:***部安装机构部,其具有按压部,该按压部一体地设在供***部贯穿***的旋转筒上并按压保持***部,***部安装机构部能够切换为以下两种状态:按压部按压***部以使旋转筒和***部为一体的状态,或者***部相对于旋转筒进退的状态;旋转机构部,其设在***部安装机构部上,当旋转筒和***部为一体时,旋转机构部使旋转筒旋转,使***部绕该***部的轴旋转;***部操作部,其具有弯曲部操作部和扭转操作部,弯曲部操作部使***部所具有的电动弯曲部弯曲动作,扭转操作部使旋转筒旋转从而使***部成为旋转状态;以及使***部操作部和***部安装机构部成为一体的支承柱。
Description
技术领域
本发明涉及一种具有弯曲部操作部的电动弯曲操作装置,该弯曲部操作部对设在观察用医疗器械的***部上的电动弯曲部进行弯曲操作。
背景技术
近年来,使用有如下的医疗用内窥镜:通过将细长的***部***到体内从而对体内的患部等进行观察,并根据需要而使用被贯穿***于处置器械通道内的处置器械进行各种治疗处置。
在内窥镜中,为了实现***部朝曲折的部位***的***性的提高,以及为了使设在前端部的观察光学***等朝向所期望的方向,在***部的前端侧设置例如能够朝上下左右方向等弯曲的弯曲部。通常,通过手术操作者对设在操作部上的弯曲旋钮进行旋转操作,角度操作线被牵引从而弯曲部弯曲。即,内窥镜具有用于手动操作的弯曲机构。
相对于此,在日本特许3144559号公报中示出了电动弯曲内窥镜装置。在该电动弯曲内窥镜装置中,通过对设在操作部上的作为弯曲指示单元的例如操纵杆进行倾倒操作,使得弯曲用电动机被驱动而牵引角度操作线,从而弯曲部朝操纵杆的操作方向弯曲。
并且,在美国专利公开2007-0100201A1中示出了如下的内窥镜***:手术操作者能够在把持着内窥镜的***部的状态下,容易地进行被贯穿***在内窥镜的处置器械通道中的处置器械所具有的各种功能、或者内窥镜所具有的各种功能的操作。在该内窥镜***中,利用把持内窥镜的操作部的手对弯曲旋钮进行操作、利用把持***部的手对该***部进行操作,除此之外,还能够对操作指示装置进行操作来进行内窥镜以及处置器械的各种功能操作。
进而,在美国专利公开2007-0100201A1的操作指示装置中,通过设置日本专利3144559号公报的操纵杆,手术操作者对操作指示装置进行操作,从而能够进行内窥镜的各种功能以及处置器械的各种功能的操作,并且还能够进行弯曲部的弯曲操作。即,可以考虑将操作指示装置和电动弯曲内窥镜装置组合起来实现操作性的提高。
然而,在将内窥镜的***部向体内深部导入的情况下,手术操作者以观察在显示装置的画面上所显示的内窥镜图像的状态适当进行使弯曲部弯曲的弯曲操作和扭转***部的扭转操作,从而将前端部引导至目标观察部位。因此,在将设有操纵杆的操作指示装置配设在***部上的情况下,当手术操作者对***部进行扭转操作时,配设在***部上的操作指示装置也与该***部的扭转一起移动。于是,手术操作者难以瞬间判断出显示在显示画面上的内窥镜图像与操纵杆之间的位置关系并准确地进行弯曲操作。
发明内容
本发明的目的在于提供一种操作性优异的电动弯曲操作装置,该电动弯曲操作装置在手术操作者对***部进行扭转操作时,能够准确地进行使弯曲部弯曲的操作,并且能够顺畅地进行直到***部的深部的贯穿***。
本发明的电动弯曲操作装置能够安装在观察用医疗器械的具有电动弯曲部的***部上。电动弯曲操作装置包括***部安装机构部、旋转机构部、***部操作部以及支承柱。
所述***部安装机构部包括***部按压部件,所述***部按压部件一体地设在供所述***部贯穿***的旋转筒中并按压保持该***部。进而,该***部安装机构部能够切换为两种状态:将***部按压部件按压在所述***部上从而所述旋转筒和***部为一体的状态;或者该***部相对于该旋转筒进退的状态。所述旋转机构部设在所述***部安装机构部上,当所述旋转筒和所述***部为一体时,所述旋转机构部使该旋转筒旋转,使所述***部绕该***部的轴旋转。所述***部操作部具有弯曲部操作部和扭转操作部,所述弯曲部操作部使所述***部所具有的电动弯曲部弯曲动作,所述扭转操作部使所述旋转筒旋转。所述支承柱使所述***部操作部和所述***部安装机构部成为一体。
从以下的参照附图的说明中能够更加清楚地理解本发明的上述和其他的目的、特征以及优点。
附图说明
图1是对具有电动弯曲内窥镜和电动弯曲操作装置的内窥镜***进行说明的图。
图2是对电动弯曲内窥镜所具有的能够进行电动弯曲部的操作以及***部的扭转操作的电动弯曲操作装置进行说明的立体图。
图3是图2的电动弯曲操作装置的左侧视图。
图4是图2的电动弯曲操作装置的俯视图。
图5是示出图2的电动弯曲操作装置的基端面侧的后视图。
图6是用于说明***部安装机构部的结构的剖视图。
图7是对***部按压部件的结构以及***部按压部件与***部的关系进行说明的图。
图8是对切换筒的作用以及***部按压部件的作用进行说明的图。
图9是对具有内窥镜***的医疗***进行说明的图。
图10是对镜体保持器的结构例进行说明的图。
图11是电动弯曲操作装置的变形例,是对扭转操作部的结构及配设位置不同的电动弯曲操作装置进行说明的图。
图12是电动弯曲操作装置的变形例,是对弯曲部操作部的结构不同的电动弯曲操作装置进行说明的图。
图13是对***部旋转电动机和旋转筒的结构不同的电动弯曲操作装置进行说明的图。
图14是对***部旋转电动机和旋转筒的结构不同的另一电动弯曲操作装置进行说明的图。
图15是对在固定部上具有球关节的镜体保持器的结构进行说明的图。
图16是对在第三旋转关节上配设有内窥镜旋转电动机的镜体保持器的结构进行说明的图。
具体实施方式
以下,参照附图对本发明的实施方式进行说明。
如图1所示,本实施方式的内窥镜***1包括:电动弯曲内窥镜2;内窥镜控制装置3;显示装置4;以及电动弯曲操作装置5。
电动弯曲内窥镜2是观察用医疗器械,其包括:***到体内的***部11;设在***部11的基端侧的操作部12;以及从操作部12延伸出来的通用软线13。通用软线13的基端部连接在内窥镜控制装置3上。在内窥镜控制装置3中设有照明部、图像处理部以及控制部3a、3b等。照明部具有对从电动弯曲内窥镜2的后述的前端部14的照明窗射出照明光的照明灯或者LED等发光元件供给电力的电源部。图像处理部具有驱动电路以及图像处理电路等,所述驱动电路用于驱动内置于前端部中的CCD(Charge Coupled Device:电荷耦合器件)或者CMOS(ComplementaryMetal Oxide Semiconductor:互补金属氧化物半导体)等固体摄像元件,所述图像处理电路将利用固体摄像元件进行光电转换而传输来的图像信号生成影像信号。利用图像处理部的图像处理电路所生成的影像信号被输出至显示装置4,从而在画面4a上显示出内窥镜图像。
***部11构成为从前端侧开始依次连接设置有前端部14、电动弯曲部15以及挠性管部16。本实施方式的电动弯曲部15例如具有第一弯曲部17和第二弯曲部18。第一弯曲部17和第二弯曲部18构成为将多个弯曲块(未图示)以在预定方向上转动自如地连接起来从而朝上下左右方向弯曲。在与位于各弯曲部17、18的最前端的前端块(未图示)的上下左右对应的位置上分别固定设置有上下左右用的角度操作线的前端部。
另外,在本实施方式中包括使电动弯曲部15朝上下左右弯曲的第一弯曲部17和第二弯曲部18的结构。但是,电动弯曲部15并不限于该结构,也可以形成为以下结构:仅具备第一弯曲部17的结构;或者第二弯曲部18朝上下方向弯曲的结构;或者具有朝上下左右方向、或者上下方向弯曲的弯曲部作为第三弯曲部的结构等。
操作部12兼用作供手术操作者把持的把持部、或者由构成后述的支承座(参照图9的标号120)的镜体保持器(图9的标号127)所保持的保持部。
在操作部12的一侧面或者另一侧面上排列有第一弯曲部操作部21和第二弯曲部操作部22。第一弯曲部操作部21构成为在同一轴上转动自如地设有例如第一上下弯曲旋钮23UD和第一左右弯曲旋钮23RL。第二弯曲部操作部22构成为在同一轴上转动自如地设有第二上下弯曲旋钮24UD和第二左右弯曲旋钮24RL。
进而,通过从手术操作者方向观察时顺时针旋转上下旋钮23UD、24UD,从而使弯曲部17、18例如朝下方弯曲,通过逆时针旋转上下旋钮23UD、24UD,从而使弯曲部17、18朝上方弯曲。另一方面,左右旋钮23RL、24RL结构为:通过将它们顺时针旋转,从而使弯曲部17、18朝右方弯曲,通过将它们逆时针旋转,从而使弯曲部17、18朝左方弯曲。
在由一侧面和另一侧面夹着的较长侧面19等上设有:送气送水按钮25;抽吸按钮26;以及多个按钮27,所述按钮27用于进行显示装置4的显示切换、显示图像的冻结(breeze)指示或者解冻(release)指示等各种操作。并且,在操作部12上设有用于将处置器械导入处置器械通道中的处置器械贯穿***口28。
在电动弯曲内窥镜2的操作部12中内置有例如:第一上下弯曲用电动机(未图示)、第一左右弯曲用电动机(未图示)、第二上下弯曲用电动机(未图示)以及第二左右弯曲用电动机(未图示)。第一上下弯曲用电动机牵引和松弛第一弯曲部17的向上用角度操作线和向下用角度操作线。第一左右弯曲用电动机牵引和松弛第一弯曲部17的向左用角度操作线和向右用角度操作线。另一方面,第二上下弯曲用电动机牵引和松弛第二弯曲部18的向上用角度操作线和向下用角度操作线。第二左右弯曲用电动机牵引和松弛第二弯曲部18的向左用角度操作线和向右用角度操作线。
在操作部12内设有未图示的旋钮用编码器,其分别对旋钮23UD、23RL、24UD、24RL的旋转方向和旋转量进行检测。当旋钮23UD、23RL、24UD、24RL被手术操作者等沿顺时针或者逆时针旋转时,旋钮用编码器将用于告知各个旋钮的旋转方向和旋转量的旋钮旋转控制信号输出至内窥镜控制装置3的作为第一驱动控制部的弯曲控制部3a。
弯曲控制部3a在被输入了旋转控制信号的同时计算出与该旋转控制信号对应的基于操作线驱动电动机的角度操作线的牵引量,并将弯曲控制信号输出至所对应的操作线驱动电动机。于是,与手术操作者的旋钮操作对应的操作线驱动电动机被驱动,电动弯曲部15弯曲动作。
电动弯曲操作装置5被安装在电动弯曲内窥镜2的***部11上进行使用。电动弯曲操作装置5由***部操作部30和***部安装机构部50构成,且在***部安装机构部50上具有旋转机构部70。标号37是支承柱,其使***部操作部30和***部安装机构部50成为一体。
参照图2、图3以及图4对***部操作部30进行说明。
另外,在本实施方式中,设图2~图4中的箭头X所示的方向为前端方向,设箭头X的反方向为基端方向,设箭头Y所示的方向为左方,设箭头Y的反方向为右方,设箭头Z所示的方向为上方,设箭头Z的反方向为下方。
如图2~图4所示,***部操作部30包括:管状的第一杆31、第二杆32以及扭转操作部35。在本实施方式中,***部操作部30经由固定杆33被安装在操作部支承部件34上。
在第一杆31的前端部设有筒状的扭转操作部35。扭转操作部35配置成相对于第一杆31的前端部外周面转动自如。即,扭转操作部35是绕第一杆的轴(在图中为绕X轴)转动的结构。
扭转操作部35是对旋转方向和旋转量进行检测的扭转检测编码器。当从操作部支承部件34侧观察,扭转操作部35沿顺时针或者逆时针旋转时,扭转操作部35将用于告知其旋转方向和旋转量的扭转控制信号输出至内窥镜控制装置3的作为第二驱动控制部的扭转控制部3b。在扭转控制部3b中,在被输入了扭转控制信号的同时计算出与该扭转控制信号对应的***部旋转电动机(后述的图3的标号73)的驱动量,并将扭转动作信号输出至该***部旋转电动机。于是,在***部旋转电动机的驱动力作用下,***部11以与手术操作者对扭转操作部35的旋转操作对应的方式被扭转。
第一杆31是第一形状告知操作部,兼用作第一弯曲部操作部和告知第一弯曲部的弯曲形状的第一弯曲部形状告知部。第一杆31经由万向节36U1转动自如地连接在第二杆32的前端部。即,第一杆31绕平行于图中Y轴的第一水平轴AH1转动自如,且绕平行于图中Z轴的第一垂直轴AV1转动自如。
第二杆32是第二形状告知操作部,兼用作第二弯曲部操作部和告知第二弯曲部的弯曲形状的第二弯曲部形状告知部。第二杆32经由万向节36U2转动自如地连接在固定杆33的前端部。与第一杆31同样,第二杆32也绕平行于图中Y轴的第二水平轴AH2转动自如,且绕平行于图中Z轴的第二垂直轴AV2转动自如。
万向节36U1、36U2中分别具有第一弯曲检测部和第二弯曲检测部。弯曲检测部由电位计或者非接触式磁传感器、光传感器等构成,进行杆31、32相对于轴AH1、AH2的旋转方向以及旋转量的检测,和该杆31、32相对于垂直轴AV1、AV2的旋转方向以及旋转量的检测。
进而,当第一杆31相对于第一水平轴AH1或者相对于第一垂直轴AV1旋转时,与所述第一上下弯曲旋钮23UD或者第一左右弯曲旋钮23RL被沿顺时针或者逆时针操作的情况相同,从第一弯曲检测部向内窥镜控制装置3的弯曲控制部3a输出第一杆旋转控制信号,该第一杆旋转控制信号用于告知第一杆31相对于轴AH1、AV1的旋转方向和旋转量。
另一方面,当第二杆32相对于第二水平轴AH2或者相对于第二垂直轴AV2旋转时,与所述第二上下弯曲旋钮24UD或者第二左右弯曲旋钮24RL被沿顺时针或者逆时针操作的情况相同,从第二弯曲检测部向内窥镜控制装置3的弯曲控制部3a输出第二杆旋转控制信号,该第二杆旋转控制信号用于告知第二杆32相对于轴AH2、AV2的旋转方向和旋转量。
弯曲控制部3a在其被输入了来自第一弯曲检测部或者第二弯曲检测部的杆旋转控制信号的同时,计算出与该杆旋转控制信号对应的基于操作线驱动电动机的角度操作线的牵引量,并将弯曲控制信号输出至所对应的操作线驱动电动机。由此,与手术操作者的杆操作对应的操作线驱动电动机成为驱动状态,电动弯曲部15以与对第一弯曲部操作部21和第二弯曲部操作部22进行操作的情况同样的方式进行弯曲动作。固定杆33通过例如螺钉39a一体地固定在操作部支承部件34的前端。
操作部支承部件34兼用作把持部,且其基端部34a通过例如螺钉39b一体地固定在支承柱37上。操作部支承部件34的长轴和电动弯曲操作装置5的X轴设定成平行的关系。
另外,在本实施方式中,示出将操作部支承部件34固定在支承柱37上的结构。但是,也可以将固定杆33和操作部支承部件34构成为一体并固定在支承柱37上,或者也可以是将***部操作部30安装在操作部支承部件34上的结构。
在本实施方式中,在具有万向节的第一杆31、第二杆32上设有电位计,且该电位计具有摩擦阻力部(未图示)。摩擦阻力部形成为如下结构:为了防止误操作,当作用有预先设定的力量以上的转动力时第一杆31、第二杆32才转动。
进而,通过设置摩擦阻力部,当转动操作停止时,第一杆31、第二杆32借助于摩擦阻力部的摩擦力而保持在停止了转动操作的状态。即,第一杆31示出电动弯曲部15的第一弯曲部17的弯曲形状,第二杆32示出电动弯曲部15的第二弯曲部18的弯曲形状。
因此,手术操作者等通过以固定杆33为基准目视确认第一杆31朝上下左右方向的倾斜以及第二杆32朝上下左右方向的倾斜,从而能够容易地把握电动弯曲部15大致的弯曲状态。即,第一杆31、第二杆32是用于对弯曲部17、18进行操作的弯曲部操作部,并且是用于分别告知各个弯曲部17、18的弯曲形状的弯曲部形状告知部。
并且,也可以将扭转操作部35形成为刻度环,该刻度环在该扭转操作部35的基端外边缘上沿周向设有用于目视确认扭转操作指示量的刻度35a。根据该结构,在内窥镜检查开始之前,使刻度环上的零点与基准线30a一致。由此,在对扭转操作部35进行转动操作之后,能够目视确认刻度35a来确认***部11的扭转量。即,具有刻度35a的扭转操作部35是用于告知***部11的扭转量的***部扭转量告知部。
另外,在本实施方式中,将摩擦阻力部的摩擦力设定成以扭转操作部35、第一杆31、第二杆32的顺序增大,使扭转操作部35形成为最容易转动的结构。由此,例如在第一弯曲部17朝左右方向弯曲的状态下对扭转操作部35进行操作时,能够防止第一杆31朝上下方向转动。并且在第二弯曲部18弯曲的状态下对第一杆31进行操作时,能够防止第二杆32转动。
并且,在本实施方式中,能够根据杆31、32的倾斜来把握电动弯曲部15大致的弯曲状态。这是因为,例如第一弯曲部17向上方的弯曲角度为210度,与此相对,将杆31向上方的角度设定成比第一弯曲部17向上方的弯曲角度小预定的量,从而重视第一杆、第二杆的操作性。即,第一杆、第二杆的弯曲量与第一弯曲部、第二弯曲部的弯曲量未设定成相似的关系。
并且,分别从扭转操作部35、第一弯曲检测部、第二弯曲检测部延伸出来的信号线贯穿***在从操作部支承部件34的基端部34a延伸出来的保护软管38内并连接在内窥镜控制装置3上。
接下来,参照图2~图7对具有旋转机构部70的***部安装机构部50进行说明。
首先,对***部安装机构部50进行说明。
如图2-图6所示,***部安装机构部50主要由以下部件构成:旋转保持部51;兼用作旋转机构部70的旋转筒52;多个作为***部按压部件的卡爪部件53;一对切换筒54a、54b;施力部件55;移动筒56;以及调节杆57。标号58a、58b是盖体。盖体58a、58b分别固定在旋转筒52的基端面和前端面上。
旋转保持部51是装置主体,如图6所示,该旋转保持部51具有贯通孔51h,在该贯通孔51h内配设有轴承6a。旋转筒52转动自如地配置在轴承6a上。
如图5所示,在旋转保持部51上隔着杆安装部51a设有支柱安装部51b和固定臂装卸部51c。
在杆安装部51a上螺合固定有杆支承部件59。如图5和图6所示,杆支承部件59具有立起设置的一对支承部59a,且在所述支承部59a之间配置有调节杆57的支点部57a。支点部57a配设在从贯通孔51h的中心与Z轴平行地延伸出来的中心线51L上。
支点部57a通过第一销69a转动自如地安装在支承部59a上。由此,调节杆57是切换机构部,且能够从图6的实线所示的位置移动至虚线所示的位置。
如图2~图5所示,倒U字形的臂57b一体地固定设置在调节杆57上。在臂57b的两端部设有按压部57c。当调节杆57朝向图6的虚线所示的方向移动时,按压部57c与设在移动筒56上的外凸缘56f的基端侧的侧面抵接,从而使移动筒56相对于旋转筒52移动。
所述支承柱37安装在支柱安装部51b上。支承柱37在一端侧具有凸缘37a,将该凸缘37a在配置在支柱安装部51b上的状态下,利用多个螺钉68一体地固定住。
在立起设置于支柱安装部51b的支承柱37的端部上配设有基端部34a,该基端部34a的中心34c配设在从贯通孔51h的中心延伸出来的中心线51L上。即,操作部支承部件34和调节杆57配置在包含中心线51L的一个平面内。进而,对电动弯曲操作装置5的重心进行调节,以使电动弯曲操作装置5的重心也配置在这个平面内。其结果是,中心线51L的-Z方向就是电动弯曲操作装置5的重心方向,调节杆57的操作方向与电动弯曲操作装置5的重心方向一致。因此,通过在将手掌放置在操作部支承部件34上的状态下利用手指操作调节杆57,从而不会受到由重力引起的转矩的影响,能够高效地进行杆操作。
如图5的虚线所示,在固定臂装卸部51c上配设有臂安装部件60,该臂安装部件60具有以装卸自如的方式安装在固定臂7的装卸部7a上的安装件60d。臂安装部件60包括旋转保持部安装部60a和固定臂安装部60b。
旋转保持部安装部60a的一端部夹持着固定臂装卸部51c并通过第二销59b转动自如的方式进行安装。由此,旋转保持部安装部60a被配设成从旋转保持部51的周面向外侧突出。构成固定臂安装部60b的一端部的连接部60c经由第三销69c转动自如地安装在旋转保持部安装部60a的另一端部上。
所述安装件60d设在固定臂安装部60b的另一端部,该安装件60d绕第二销和第三销转动自如。该安装件60d以卡定方式一体地固定在固定臂7的装卸部7a上。
如图6所示,旋转筒52在外周面具有旋转部52a和滑动部52b。旋转部52a转动自如地保持在设于旋转保持部51的轴承6a上。构成切换机构部的移动筒56滑动自如地配置在滑动部52b的外周。
旋转筒52的内周面的基端侧以及中途部具有朝中心轴方向突出的凸部52c、52d。在本实施方式中,凸部52c形成于旋转筒52上。相对于此,凸部52d例如将其外周面通过螺合或者粘接等方式一体地固定在旋转筒52的内周面上,从而形成了旋转筒52。
此处,参照图7对凸部52d进行说明。另外,凸部52c的结构与凸部52d的结构大致相同,因此对凸部52d的结构进行说明而省略凸部52c的说明。
在图7所示的设于前端侧的凸部52d上形成有供虚线所示的***部11以及虚线所示的后述的一对外附管(图9的标号101、102)贯穿***的贯通孔52h。该贯通孔52h具有:供***部11贯穿***的***部贯穿***孔52e;以及供外附管101、102贯穿***的一对软管贯穿***孔52f。
在凸部52d的三个部位上设有用于配置作为***部按压部件的卡爪部件53的切口凹部52g。三个切口凹部52g相对于中心O1呈放射状地设置。配置在切口凹部52g中的卡爪部件53安装成能够绕销69d朝向中心O1方向转动。标号53a是按压部,其按压虚线所示的***部11的外表面以进行固定保持。以当利用三个按压部53a固定保持***部11时使***部11的长轴位于中心O1上的方式设定卡爪部件53的配设位置。
另外,当卡爪部件53如虚线所示那样最大程度地朝中心O1移动时,与三个按压部53a内切的由双点划线所示的虚拟圆53b构成为直径比***部11的外径小预定尺寸。
并且,按压部53a形成如下的结构:在握持杆的状态下,由于卡爪部件53上具有的未图示的弹簧的作用力,如图6的虚线以及图7的实线所示那样按压力未被施加在***部11上,按压部53a配置在退避位置。当按压部53a移动至退避位置时,电动弯曲操作装置5相对于***部11进退自如。
如图6所示,在旋转筒52的内周面52i侧,在旋转筒52上设有的凸部52c和凸部52d之间以及比凸部52d更靠另一端侧的位置上分别配置有构成切换机构部的切换筒54,所述切换筒54相对于内周面52i滑动自如地配置。
切换筒54为筒状,如图8所示,切换筒54具有将内部空间54i和外部连通起来的轴向的按压孔54h。按压孔54h的内表面构成按压面54p。按压面54p构成为随着从开口侧朝向内部空间54i内径尺寸逐渐变小的锥面。
在按压孔54h内配置有卡爪部件53,该卡爪部件53转动自如地设置在凸部52c、52d上。进而,当处于卡爪部件53配置在按压孔54h内的状态时,如虚线所示,按压面54p与卡爪部件53的外侧面53o相抵接。进而,在该抵接状态下,如实线所示,当切换筒54在施力部件55的作用下从虚线位置例如移动距离Lx时,卡爪部件53的外侧面53o随着该切换筒54的移动而被按压面54p按压。进而,按压部53a按压在虚线所示的***部11的外表面上。
并且,如图6所示,切换筒54在外周面具有销穴54d。滑动销69e通过铆接或者螺合方式而一体地固定设置在销穴54d中。滑动销69e被设定成经由在旋转筒52的滑动部52b上形成的长孔52j突出至滑动部52b的外周面外侧的长度。长孔52j是将旋转筒52的内周面和外周面连通起来的贯通孔,且形成为与旋转筒52的长轴平行。
移动筒56滑动自如地配设在旋转筒52的滑动部52b上。移动筒56的外周面中途部的预定位置上具有外凸缘56f。上述臂57b的按压部57c抵接在外凸缘56f上。进而,当调节杆57朝图6的虚线所示的方向移动时,移动筒56朝前端侧移动。在移动筒56上形成有用于配置滑动销69e的两个销孔56h。销孔56h是将移动筒56的内表面和外表面连通起来的贯通孔。
施力部件55是压缩螺旋弹簧。施力部件55配置在凸部52d与凸部52c侧的切换筒54之间。此处,将一对切换筒54中的、配设在凸部52d侧的切换筒记作第一切换筒54a,将配设在凸部52c侧的切换筒记作第二切换筒54b以进行说明。
施力部件55具有这样的作用力:使两个切换筒54a、54b朝基端侧移动,从而利用卡爪部件53的按压部53a按压***部11并保持成一体。进而,通过第二切换筒54b受到施力部件55的作用力而移动,由此两个切换筒54a、54b一体地如上述图8所示那样移动到基端侧。
此处,对两个切换筒54a、54b一体地移动的结构进行说明。
组装作业者预先将第二切换筒54b、施力部件55、凸部52d以及第一切换筒54a配设在旋转筒52的内周面内。然后,组装作业者将移动筒56配置在旋转筒52的滑动部52b上。
接下来,组装作业者将滑动销69e经由移动筒56的销孔56h和长孔52j配置在各个切换筒54a、54b的销穴54d中。然后,作业者通过螺合或者铆接方式将各个滑动销69e固定在各个切换筒54a、54b上。于是,两个切换筒54a、54b被配置成相对于旋转筒52的内周面滑动自如,另一方面,移动筒56被配置成相对于旋转筒52的滑动部52b滑动自如。进而,形成了移动筒56和两个切换筒54相对于旋转筒52一体地滑动的结构。
因此,当第二切换筒54b受到施力部件55的作用力而朝基端侧移动时,移动筒56和第一切换筒54a随着第二切换筒54b的移动而一体地朝基端侧移动。于是,转动自如地形成于凸部52d上的卡爪部件53借助于该切换筒54a、54b的按压面54p而朝***部贯穿***孔52e的中心O1方向移动。
另一方面,当使调节杆57朝图6的虚线所示的方向移动,从而移动筒56朝前端侧移动时,伴随着移动筒56的移动,切换筒54a、54b克服施力部件55的作用力也朝前端侧移动。于是,借助于切换筒54a、54b的按压面54p向***部贯穿***孔52e的中心O1方向移动的卡爪部件53远离中心O1。
最后,对***部安装机构部50所具有的旋转机构部70进行说明。
如图3、图4所示,旋转机构部70主要由筒用齿轮71和***部旋转电动机73构成,所述筒用齿轮71设置在旋转筒52上,所述***部旋转电动机73设置在一体地固定于旋转保持部51上的电动机壳72上。***部旋转电动机73产生使旋转筒52旋转的驱动力。
如图5所示,筒用齿轮71设置在从旋转保持部51的贯通孔51h突出来的旋转筒52的旋转部52a外周。筒用齿轮71是具有与旋转筒52的中心轴平行的齿向的筒侧直齿轮71a。在***部旋转电动机73的电动机轴73a上固定设置有与筒侧直齿轮71a啮合的电动机侧直齿轮74。
根据该结构,***部旋转电动机73的旋转驱动力经由电动机轴73a、电动机侧直齿轮74被传递至筒侧直齿轮71a,由此旋转筒52相对于旋转保持部51旋转。此时,在旋转筒52旋转的同时,移动筒56、凸部52c、凸部52d、切换筒54a、54b也一体地旋转。此时,在设于凸部52c、52d上的卡爪部件53的按压部53a按压***部11的情况下,***部11也和旋转筒52一起旋转。
对具有以上述方式构成的电动弯曲操作装置5的内窥镜***1的作用进行说明。
本实施方式的内窥镜***1例如构成为如图9所示的医疗处置***10。除了上述内窥镜***1之外,医疗处置***10例如还具有以下部件:一对外附管101、102;多个机械手(manipulation)装置110;具有镜体保持器的支承座120;以及机械手操作装置130等。
多个机械手装置110例如是具有手臂111的把持用机械手112以及具有刀臂113的高频机械手114。机械手装置110的手臂111的位置和姿势、刀臂113的位置和姿势都是通过对机械手操作装置130上具有的主控部131、132进行操作来设定的。
机械手操作装置130具备把持件用主控部131和高频用主控部132。主控部131、132是用于设定把持用机械手112和高频机械手114所具有的未图示的多个关节的关节角度、轴向的位置等的输入装置。主控部131、132滑动自如地安装在配设于脚架140上的保持部141、142上。
各个主控部131、132包括:与各机械手112、114的多个关节对应的主控侧关节块133、134、135、136、137;以及主控侧手臂138、主控侧刀臂139。
把持用机械手112和高频机械手114所具有的各自的***部贯穿***于沿着电动弯曲内窥镜2的***部11配设的一对外附管101、102中。在本图中,把持用机械手112贯穿***在第一外附管101内,高频机械手114贯穿***在第二外附管102内。
支承座120具备支柱121。在支柱121上固定有工作台122。在工作台122的上表面侧立起设置有垂直臂123。垂直臂123安装成相对于工作台122转动自如。在垂直臂123上经由例如多个固定部件124设有第一臂保持部件125。形成为L字形的L型臂126的垂直臂部126v转动自如地安装在第一臂保持部件125上。在L型臂126的水平臂部126h上安装有机械手对应镜体保持器(以下简记为镜体保持器)127。镜体保持器127包括:旋转支承部127a;多个臂127b;旋转关节127c;锤部127d;以及固定部127e。安装在固定部127e上的电动弯曲内窥镜2的操作部12能够自由地改变朝向以及姿势。
另外,标号129U1、129U2是机械手驱动单元,它们安装在固定部127e上。在机械手驱动单元129U1、129U2内配设有多个臂驱动电动机(未图示)或者机械手驱动电动机,所述臂驱动电动机分别牵引和松弛使机械手112、114的关节动作的多个角度操作线,所述机械手驱动电动机使机械手装置110进退。
标号129A是机械手控制箱,在机械手控制箱129A内设有对设于机械手驱动单元129U1、129U2内的多个臂驱动电动机等进行控制的控制电路(未图示)。机械手控制箱129A经由信号线缆与机械手操作装置130以及控制装置145电连接。
标号146是机械手侧监视器。标号147是高频机械手用手柄。高频机械手用手柄147经由电缆与高频电源装置148连接,以进行高频电源的供给。标号149是手术操作者。
参照图10详细地说明镜体保持器127的结构。
镜体保持器127包括:具有第一旋转关节127c1的旋转支承部127a;第一臂127b1;第二臂127b2;第三臂127b3;第四臂127b4;第二旋转关节127c2;第三旋转关节127c3;锤部127d;固定部127e;以及多个连接件127f。锤部127d是用于抵消转动惯量的所谓的配重,其设于第一臂127b1的端部。
构成镜体保持器127的旋转支承部127a,经由旋转轴127a1以转动自如的方式安装在水平臂部126h上。在旋转支承部127a上,第一臂127b1以转动自如的方式安装在转动保持部127a2上。
第一臂127b1和第二臂127b2经由第一连接件127f1连接起来。第二臂127b2和第三臂127b3经由第二旋转关节127c2以转动自如的方式安装。第三臂127b3和第四臂127b4经由第二连接件127f2连接起来。固定部127e的固定部127e1经由第三旋转关节127c3以转动自如的方式安装在第四臂127b4上。
在本实施方式中,旋转支承部127a所具有的第一旋转关节的第一旋转轴延长线L1、第二旋转关节127c2的第二旋转轴延长线L2以及第三旋转关节127c3的第三旋转轴延长线L3,具有大致在一点交叉的交叉点CP。进而,第一旋转轴延长线L1、第二旋转轴延长线L2以及第三旋转轴延长线L3构成虚拟的X轴、Y轴和Z轴。
进而,构成为能够更换长度不同的固定部127e1,以使通用软线13的延伸部13a从该交点CP或者其附近延伸出来,所述通用软线13从操作部12的固定在固定部127e上的侧部延伸出来。
通过使电动弯曲内窥镜2的通用软线13从交叉点CP延伸出来,从而能够消除由于延伸部13a从交叉点CP离开例如距离Lz而产生的转矩(F×Lz)。由此,手术操作者把持电动弯曲操作装置5并以后述方式进行***部11的***的操作性提高。
另外,在延伸部13a和交叉点CP离开距离Lz的情况下,也可以将通用软线13的比延伸部13a更靠前端侧的部分固定在交叉点CP附近从而避免转矩(F×Lz)的产生。
对医疗处置***10的作用进行说明。
当使用医疗处置***10时,使用者将外附管101、102安装在电动弯曲内窥镜2的***部11上。并且,使用者将安装有外附管101、102的电动弯曲内窥镜2的操作部12安装在镜体保持器127的固定部127e上。然后,将电动弯曲操作装置5配置在***部11的挠性管部16上。
此时,使用者进行使调节杆57从图6的实线位置移动至虚线所示的位置的操作,并将调节杆57保持在虚线位置。由此,设在电动弯曲操作装置5的旋转筒52内的卡爪部件53的按压部53a移动至退避位置。
接下来,使用者将安装有外附管101、102的***部11从电动弯曲操作装置5的基端侧贯穿***于贯通孔52h中。由于贯通孔52h包括***部贯穿***孔52e和一对软管贯穿***孔52f,因此在此时,安装有外附管101、102的***部11以预定的朝向贯穿***于贯通孔52h内。
接着,在电动弯曲操作装置5到达挠性管部16的预定位置之后,使用者解除调节杆57的保持状态。于是,两个切换筒54a、54b受到施力部件55的作用力而移动至基端侧,卡爪部件53的按压部53a按压挠性管部16,从而电动弯曲操作装置5一体地配设在挠性管部16上。
此处,手术操作者149例如一边观察在显示装置4的画面4a上显示出的内窥镜图像,一边将安装有外附管101、102的***部11贯穿***到体内。此时,由于操作部12保持在镜体保持器127的固定部127e上,因此手术操作者149例如用一只手把持电动弯曲操作装置5的操作部支承部件34,用另一只手保持***部11。
进而,手术操作者149进行以下操作:使电动弯曲操作装置5的调节杆57从图6的实线位置移动到虚线位置的操作;使***部操作部30的第一杆31、第二杆32转动的操作;以及使扭转操作部35旋转的操作,从而将***部11贯穿***到体内深部并使目标观察部位显示在画面4a上。
然后,为了开始处置器械的***或者借助机械手112、114进行的处置,手术操作者使固定臂安装部60b的安装件60d绕第二销或者第三销转动,使该安装件60d与固定臂7的装卸部7a的朝向一致,然后将安装件60d一体地固定在装卸部7a上。由此,电动弯曲操作装置5由固定臂7支承。因此,成为手术操作者也能够将双手从电动弯曲内窥镜2拿开的状态。
另外,由于臂安装部件60的安装件60d从周面向外侧突出,并且绕第二销或者第三销转动自如,因此能够将安装件60d安装在装卸部7a上时的装配作业方向容易地设定在对前端部的***深度和朝向的变化的影响最少的方向上。因此,装配作业完毕时,在画面4a上显示出与装配前所显示的内窥镜图像大致相同的目标观察部位的内窥镜图像。
具体地说,手术操作者149以将手从电动弯曲操作装置5的调节杆57拿开并把持操作部支承部件34的状态使电动弯曲操作装置5移动。于是,伴随着该电动弯曲操作装置5的移动,一体地固定在电动弯曲操作装置5上的***部11被***到患者体内。然后,手术操作者适当地对调节杆57和***部操作部30进行操作以将***部11***到体内深部。
即,手术操作者149反复进行以下操作以将***部11***到体内:将手从调节杆57处拿开并将***部11向体内***的操作;把持调节杆57并使电动弯曲操作装置5相对于***部11的配置位置向基端方向移动的操作;以及再次将手从调节杆57拿开并将***部11向体内***的操作。
并且,手术操作者149在将手从调节杆57拿开并将***部11向体内***时,对第一杆31、第二杆32或者扭转操作部35进行操作。当手术操作者149对杆31、32进行操作时,电动弯曲部15的第一弯曲部17和第二弯曲部18根据第一杆31和第二杆32的操作而弯曲。
另一方面,当手术操作者对扭转操作部35进行操作时,一体地固定在被设置于旋转筒52内的卡爪部件53的按压部53a上的***部11旋转。当***部11旋转时,旋转筒52相对于旋转保持部51旋转。手术操作者149所把持的操作部支承部件34构成为经由支承部37而固定设置在旋转保持部51上。
因此,根据本实施方式的电动弯曲操作装置5,当对扭转操作部35进行操作以扭转***部11时,具有第一杆31、第二杆32以及扭转操作部35的***部操作部30的位置不发生变化,因此手术操作者149能够准确地把握电动弯曲部15的弯曲方向、即第一杆31以及第二杆32的操作方向,从而能够进行使电动弯曲部15的第一弯曲部17和第二弯曲部18弯曲的操作。
并且,在本实施方式中,利用第一杆31对构成电动弯曲部15的第一弯曲部17进行弯曲操作,利用第二杆32对第二弯曲部18进行弯曲操作。进而,利用第一杆31进行了弯曲操作后的状态以及利用第二杆32进行了弯曲操作后的状态,在各自的状态下被保持。因此,能够目视确认第一杆31的弯曲操作状态以确认第一弯曲部17的弯曲状态,并且能够目视确认第二杆32的弯曲操作状态以确认第二弯曲部18的弯曲状态。
因此,当使电动弯曲内窥镜2的前端部14处于与处置部位对置的状态时,手术操作者目视确认杆31、32的弯曲操作状态以判断例如弯曲部17、18的弯曲状态是否为适于贯穿***处置器械的状态。
此处,在判定为是适于贯穿***处置器械的状态的情况下,手术操作者开始***处置器械或者开始借助于机械手112、114进行处置。另一方面,在判定为是不适于贯穿***处置器械的状态的情况下,手术操作者再次对杆31、32进行操作,使其成为适于贯穿***处置器械的弯曲操作状态,并再次使前端部14与处置部位对置,以进行处置器械的***等。
并且,在本实施方式中,将调节杆57、操作部支承部件34以及电动弯曲操作装置5的重心配置在同一平面内,并使调节杆57的操作方向与电动弯曲操作装置5的重心方向一致。因此,对调节杆57进行操作时由重力引起的绕杆的转矩达到最小。并且,在进行***部的弯曲操作、扭转操作时,由重力引起的绕操作部支承部件的转矩也达到最小。
因而,始终能够稳定地保持电动弯曲操作装置5。因此,能够可靠且准确地对电动弯曲操作装置5的杆31、32和调节杆57进行操作。并且,能够顺畅地将电动弯曲操作装置5安装在臂安装部件60上。
这样,根据电动弯曲操作装置,除了电动弯曲部的弯曲操作之外,还能够以不妨碍电动弯曲部的弯曲操作的方式进行***部的扭转操作。并且,通过确认使电动弯曲操作装置所具有的电动弯曲部弯曲动作的杆的操作状态,能够把握电动弯曲部的弯曲状态。
另外,在上述的内窥镜***1中,示出了将第一杆31和第二杆32设置在电动弯曲操作装置5上的结构,这是因为电动弯曲部15是具有第一弯曲部17和第二弯曲部18的结构。因此,在电动弯曲部15为仅具有第一弯曲部17的结构、或者第二弯曲部18仅朝上下方向弯曲的结构、或者具有朝上下左右方向或者上下方向弯曲的弯曲部作为第三弯曲部的结构等情况下,能够通过在固定杆33上安装与电动弯曲部15的弯曲部结构对应的杆31、32和扭转操作部35、或者其他结构的杆等加以应对。
并且,在上述的实施方式中,示出了将扭转操作部35设置在第一杆31的前端侧的结构。但是,如图11所示,也可以将扭转操作部35A设在固定杆33上。根据该结构,当对扭转操作部35进行操作时,能够可靠地防止对第一杆31等进行误操作。
并且,在上述的实施方式中,将扭转操作部35作为扭转检测编码器。但是,如图11所示,也可以形成为例如将用于指示扭转方向的按钮35L、未图示的按钮35R设在例如第一杆31的前端部等的结构。根据该结构,在对按钮35R或者按钮35L进行操作的期间,能够扭转***部11。另外,在图11中对与说明上述实施方式的图3等的结构相同的部件赋予相同标号并省略重复说明。
并且,如图12所示,也可以以下述方式构成电动弯曲操作装置5:在固定杆33的例如左侧面33L上设置旋钮,该旋钮与设于电动弯曲内窥镜2的操作部12上的第一弯曲部操作部21的第一上下弯曲旋钮23UD、第一左右弯曲旋钮23RL以及第二弯曲部操作部22的第二上下弯曲旋钮24UD、第二左右弯曲旋钮24RL相同,并在上表面的Y方向上在一列上设置用于指示扭转方向的按钮35L和未图示的按钮35R。
设在左侧面33L上的旋钮是构成第一弯曲部操作部151的第一上下弯曲旋钮153UD、第一左右弯曲旋钮153RL以及构成第二弯曲部操作部152的第二上下弯曲旋钮154UD、第二左右弯曲旋钮154RL。根据该结构,虽然难以像具有杆31、32的电动弯曲操作装置5那样一看就能够把握电动弯曲部15的弯曲形状,但是不会有损扭转***部11的功能,能够实现电动弯曲操作装置的进一步的小型化。
进一步,在上述的实施方式中,形成为将***部旋转电动机73的旋转驱动力经由电动机侧直齿轮74传递至筒侧直齿轮71a从而使旋转筒52旋转的结构。但是,使旋转筒52旋转的结构并不限于此,也可以是图13所示的结构或者图14所示的结构等。
参照图13对***部旋转电动机和旋转筒的另一结构例进行说明。
如图13所示,在本实施方式中,***部旋转电动机73A配设在支承柱37B的内部空间37c中。在旋转筒52中设有筒侧直齿轮71a作为筒用齿轮71。在本实施方式中,在支柱安装部51b上形成有供***部旋转电动机73A的电动机轴73a贯穿***的电动机轴用孔51m。电动机轴用孔51m是连通支柱安装部51b的表面和背面的贯通孔。第一锥齿轮75a一体地固定在电动机轴73a上。该第一锥齿轮75a配置在支柱安装部51b的背面侧。
在支柱安装部51b上形成有用于配设轴承76的贯通孔51n。轴承76将传递轴77支承为转动自如。传递轴77的一端侧具有与第一锥齿轮75a啮合的第二锥齿轮75b,在另一端侧具有与筒用齿轮71的筒侧直齿轮71a啮合的直齿轮78。
根据该结构,通过驱动***部旋转电动机73A使电动机轴73a旋转,该电动机轴73a的旋转经由锥齿轮75a、75b、传递轴77、直齿轮78传递至筒用齿轮71,从而旋转筒52旋转。
根据该结构,通过将***部旋转电动机73A配设在作为构成电动弯曲操作装置5的结构部件的支承柱37B内,无需电动机壳72,从而能够实现电动弯曲操作装置5的小型化。另外,在图13中对与说明上述实施方式的图3等的结构相同的部件赋予相同标号并省略重复说明。
参照图14对***部旋转电动机和旋转筒的又一结构例进行说明。
如图14所示,在本实施方式中,将蜗杆79固定设置在***部旋转电动机73A的电动机轴73a上。进而,使旋转筒52的旋转部52a形成为供蜗杆79啮合的蜗轮80。另外,在图14中对与说明上述实施方式的图5等的结构相同的部件赋予相同标号并省略重复说明。
根据该结构,除了上述的作用和效果之外,能够防止来自***部11的扭转反作用力使***部11自然而然地旋转。
另外,设在***部11上的外附管101、102通常由具有挠性的树脂制或者橡胶制作而成。但是,也可以采用具有挠性且相对于外力具有刚性的螺旋管来构成外附管101、102。
根据该结构,按压部53a不仅按压***部11,还按压外附管101、102,从而能够实现牢固的固定,并且不用形成分别与***部11的外径尺寸和螺旋管的外径尺寸互不相同的组合一致的按压部,通过将具有各种组合通用且对应的宽度较宽的按压部的卡爪部件设在凸部52c、52d上,从而能够实现电动弯曲操作装置5的成本降低。
并且,在上述实施方式中,以电动弯曲内窥镜作为观察用医疗器械,但是观察用医疗器械并不限于电动弯曲内窥镜,例如也可以是具有与上述的电动弯曲内窥镜同样的电动弯曲部的医疗用软管。该医疗用软管是具有分别供观察用探针、照明用探针和机械手贯穿***的通道孔的所谓的外附管,也可以是具有供内窥镜贯穿***的通道孔的结构以代替分别供观察用探针和照明用探针贯穿***的通道孔。
参照图15、图16对镜体保持器127的其他结构例进行说明。
对于图15所示的本实施方式的镜体保持器127X,固定部127e由第一安装部件127e2和第二安装部件127e3构成。进而,利用球关节127g将第一安装部件127e2和第二安装部件127e3连接起来。
根据该结构,镜体保持器127X的自由度增加,由此,当手术操作者对电动弯曲操作装置5的扭转操作部35进行操作时,操作部12也被扭转,从而能够顺畅地进行***部11的扭转操作。
另外,在本图中,使球关节127g的中心接近上述的交叉点CP。因此,虽然省略了图示,但是通用软线13将比其延伸部13a还靠前端侧的部分固定在交叉点CP附近。
对于图16所示的本实施方式的镜体保持器127Y,在第三旋转关节127c3上配设有内窥镜旋转电动机127h。内窥镜旋转电动机127h使以转动自如的方式安装在第三旋转关节127c3上的固定部127e转动。在本实施方式中,电动弯曲操作装置5具有旋转操作力检测传感器127i,所述旋转操作力检测传感器127i用于检测伴随着旋转筒52的旋转而旋转的***部11的旋转操作量。
内窥镜旋转电动机127h根据从旋转操作力检测传感器127i输出至内窥镜控制装置3的旋转检测信号被驱动。即,内窥镜控制装置3在被输入了旋转检测信号的同时与阈值进行比较,从而判定是否要驱动内窥镜旋转电动机127h,或者确定驱动力的输出值。
然后,当驱动内窥镜旋转电动机127h后,内窥镜控制装置3将预定的旋转控制信号输出至内窥镜旋转电动机127h。于是,在内窥镜旋转电动机127h的驱动下,固定部127e旋转起来,从而电动弯曲内窥镜2的操作部12也旋转起来。
根据该结构,由于设置在镜体保持器127Y上的内窥镜旋转电动机127h根据从电动弯曲操作装置5的旋转操作力检测传感器127i输出的旋转检测信号进行动作,因此,当手术操作者对扭转操作部35进行操作时,内窥镜旋转电动机127h根据需要而辅助***部11的扭转操作,从而始终能够稳定地进行***部11的扭转操作。由此,能够实现***部旋转电动机73的小型化。
另外,如图中的虚线所示,也可以设置对电动弯曲内窥镜2的操作部12的旋转进行检测的扭矩传感器127k以代替在电动弯曲操作装置5上设置旋转操作力检测传感器。根据该结构,内窥镜旋转电动机127h根据从扭矩传感器127k输出的扭矩检测信号被驱动,从而对***部11的扭转操作进行辅助。
参照附图对本发明的优选实施方式进行了叙述,应当理解为本发明并不限于这些实施方式,本领域技术人员在不脱离权利要求书中所记载的本发明的主旨的范围内能够做出各种变形和变更。
Claims (15)
1、一种电动弯曲操作装置,所述电动弯曲操作装置包括:
***部安装机构部,其具有***部按压部件,所述***部按压部件一体地设在供观察用医疗器械的具有电动弯曲部的***部贯穿***的旋转筒上并按压保持该***部,所述***部安装机构部能够切换为以下状态:将该***部按压部件按压在所述***部上从而使所述旋转筒和***部为一体的状态,或者使该***部相对于该旋转筒进退的状态;
旋转机构部,其设在所述***部安装机构部上,当所述旋转筒和所述***部为一体时,所述旋转机构部使该旋转筒旋转,使所述***部绕该***部的轴旋转;
***部操作部,其具有弯曲部操作部和扭转操作部,所述弯曲部操作部使所述***部所具有的电动弯曲部弯曲动作,所述扭转操作部使所述旋转筒旋转;以及
支承柱,其使所述***部操作部和所述***部安装机构部构成为一体。
2、根据权利要求1所述的电动弯曲操作装置,其特征在于,
所述***部安装机构部包括:
环状的装置主体;
供所述***部贯穿***的旋转筒,该旋转筒转动自如地被保持在所述装置主体的内周面内;
凸部,其一体地设在所述旋转筒的内表面上,并具有供所述***部贯穿***的贯通孔以及转动自如的***部按压部件,所述***部按压部件具有按压部,所述按压部至少对配置在该贯通孔内的该***部的外表面进行按压;
切换筒,其滑动自如地配置在所述旋转筒内,并具有用于配置所述***部按压部件的按压部的按压孔,通过使该切换筒在所述旋转筒内滑动来切换所述按压部按压所述***部的外表面的状态和非按压状态;
施力部件,其配置在所述旋转筒内,并且在伸长状态下对所述切换筒施力,从而将配置在该切换筒的按压孔内的按压部按压在所述***部的外表面上;
移动筒,其滑动自如地配置在所述旋转筒的外周面上,并与所述切换筒构成为一体;以及
调节杆,其转动自如地配置在所述装置主体上,并使所述移动筒克服所述施力部件的作用力在所述旋转筒的长轴方向移动,从而解除在该施力部件的作用力下所述按压部按压所述***部的外表面的按压状态。
3、根据权利要求1所述的电动弯曲操作装置,其特征在于,
所述旋转机构部包括以下部分:
环状的装置主体;
具有筒用齿轮的旋转筒,该旋转筒转动自如地被保持在所述装置主体的内周面内,并贯穿***有所述***部;
***部旋转电动机,其直接或者间接地固定设置在所述装置主体上,用于产生使所述旋转筒转动的驱动力;以及
齿轮系,其将所述***部旋转电动机的驱动力传递至所述旋转筒。
4、根据权利要求3所述的电动弯曲操作装置,其特征在于,
所述***部旋转电动机设置在电动机壳上,所述电动机壳固定设置在所述装置主体上,并且构成所述齿轮系的齿轮是直齿轮。
5、根据权利要求3所述的电动弯曲操作装置,其特征在于,
所述***部旋转电动机设置在所述支承柱所具有的内部空间内,并且构成所述齿轮系的齿轮包含锥齿轮或者蜗杆。
6、根据权利要求1所述的电动弯曲操作装置,其特征在于,
所述***部操作部的所述弯曲部操作部是具有万向节且弯折自如的杆,所述扭转操作部绕所述杆的轴或者所述***部操作部的轴转动。
7、一种电动弯曲操作装置,其特征在于,
所述电动弯曲操作装置包括:
环状的装置主体;
旋转筒,其转动自如地被保持在所述装置主体的内周面上,并且供观察用医疗器械所具有的***部贯穿***,所述***部具有电动弯曲部;
***部按压部件,其配置于所述旋转筒的内表面,且能够变化为:该***部按压部件按压所述***部的外表面,使该***部和所述旋转筒为一体的状态,或者使该***部相对于该旋转筒进退的状态;
切换机构部,其具有用于切换以下两种状态的调节杆:使所述***部按压部件按压在所述***部上,使该***部和所述旋转筒为一体的状态、以及使该***部相对于该旋转筒进退的状态;
***部旋转电动机,其固定在所述装置主体上,用于使所述旋转筒旋转;
***部操作部,其具有操作部支承部件以及安装在该操作部支承部件上的弯曲部操作部和扭转操作部,所述操作部支承部件固定设置在被立起设置于所述装置主体的支承柱上,兼用作长轴与所述旋转筒的长轴平行的把持部,所述弯曲部操作部使所述***部所具有的电动弯曲部弯曲,所述扭转操作部使所述旋转筒旋转;以及
支承柱,其使所述***部操作部和所述装置主体构成为一体。
8、根据权利要求7所述的电动弯曲操作装置,其特征在于,
所述切换机构部包括以下部分:
凸部,其一体地设在所述旋转筒的内表面上,并包括转动自如的***部按压部件,所述***部按压部件具有用于按压所述***部的外表面的按压部;
切换筒,其滑动自如地配置在所述旋转筒内,并具有用于配置所述***部按压部件的按压部的按压孔,使切换筒在所述旋转筒内滑动,来切换所述按压部按压所述***部的外表面的状态和非按压状态;
施力部件,其配置在所述旋转筒内,并且在伸长状态下对所述切换筒施力,将配置在该切换筒的按压孔内的按压部按压在所述***部的外表面上;
移动筒,其滑动自如地配置在所述旋转筒的外周面上,并与在所述旋转筒内滑动自如的切换筒构成为一体;以及
调节杆,其转动自如地配置在所述装置主体上,并使所述移动筒克服所述施力部件的作用力在所述旋转筒的长轴方向移动,从而解除在该施力部件的作用力下所述按压部按压所述***部的外表面的按压状态。
9、根据权利要求7所述的电动弯曲操作装置,其特征在于,
电动弯曲操作装置的重心设置在包含所述调节杆和所述***部操作部的固定设置在所述支承柱上的操作部支承部件的平面内。
10、根据权利要求7所述的电动弯曲操作装置,其特征在于,
所述***部操作部的所述弯曲部操作部是具有万向节且弯折自如的杆,所述扭转操作部绕所述杆的轴或者所述***部操作部的轴转动。
11、一种具有电动弯曲操作装置的医疗处置***,其特征在于,
所述医疗处置***包括:
观察用医疗器械,其具有***部以及连接设置在该***部的基端上的操作部,所述***部具有电动弯曲部;
镜体保持器,所述镜体保持器具有多个臂、多个旋转关节以及用于固定所述医疗器械的固定部,多个旋转关节构成为:在配设状态下,所述旋转关节各自的旋转轴分别设置在构成虚拟的X轴、Y轴和Z轴的位置上,并且各自的旋转轴的延长线在一点交叉;以及
权利要求1所述的电动弯曲操作装置。
12、根据权利要求11所述的医疗处置***,其特征在于,
旋转关节各自的旋转轴所构成的虚拟的X轴、Y轴、Z轴的延长线所交叉的点形成于从所述操作部延伸出来的所述通用软线的延伸部。
13、根据权利要求11所述的医疗处置***,其特征在于,
用于固定所述观察用医疗器械的固定部具有第一安装部件和第二安装部件,并利用球关节将第一安装部件和第二安装部件连接起来。
14、根据权利要求11所述的医疗处置***,其特在在于,
所述固定部转动自如地安装于旋转关节,在该旋转关节上设有使所述固定部旋转的旋转电动机。
15、根据权利要求14所述的医疗处置***,其特征在于,
所述旋转电动机根据从旋转操作力检测传感器输出的旋转检测信号或者从扭矩传感器输出的扭矩检测信号被驱动,所述旋转操作力检测传感器设在所述电动弯曲操作装置上,所述扭矩传感器设在所述固定部上。
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- 2009-05-08 AT AT09006283T patent/ATE546087T1/de active
- 2009-05-12 CN CN2009101408163A patent/CN101579225B/zh active Active
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CN103179894A (zh) * | 2010-12-01 | 2013-06-26 | 奥林巴斯医疗株式会社 | 内窥镜 |
CN103179894B (zh) * | 2010-12-01 | 2015-07-29 | 奥林巴斯医疗株式会社 | 内窥镜 |
CN103079451A (zh) * | 2011-03-29 | 2013-05-01 | 奥林巴斯医疗株式会社 | 内窥镜 |
CN104619232A (zh) * | 2012-09-12 | 2015-05-13 | 奥林巴斯医疗株式会社 | 驱动力传递单元、***设备、旋转单元、***主体组件和***装置 |
CN104619232B (zh) * | 2012-09-12 | 2016-10-05 | 奥林巴斯株式会社 | 驱动力传递单元、***设备、旋转单元、***主体组件和***装置 |
CN104736040A (zh) * | 2013-02-05 | 2015-06-24 | 奥林巴斯医疗株式会社 | ***装置 |
CN113286542A (zh) * | 2018-10-29 | 2021-08-20 | 极视有限公司 | 用于医疗器械的***单元及其插管*** |
CN111068163A (zh) * | 2019-12-30 | 2020-04-28 | 曹连连 | 一种急诊科用胃部插管辅助装置 |
CN112450996A (zh) * | 2020-11-11 | 2021-03-09 | 北京科迈启元科技有限公司 | 软式内镜手术执行器及手术机器人*** |
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US8409079B2 (en) | 2013-04-02 |
JP2009273877A (ja) | 2009-11-26 |
US20090287055A1 (en) | 2009-11-19 |
EP2123211B1 (en) | 2012-02-22 |
CN101579225B (zh) | 2012-09-19 |
EP2123211A1 (en) | 2009-11-25 |
JP5322714B2 (ja) | 2013-10-23 |
ATE546087T1 (de) | 2012-03-15 |
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