WO2016189646A1 - Bending mechanism and flexible medical instrument - Google Patents
Bending mechanism and flexible medical instrument Download PDFInfo
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- WO2016189646A1 WO2016189646A1 PCT/JP2015/065020 JP2015065020W WO2016189646A1 WO 2016189646 A1 WO2016189646 A1 WO 2016189646A1 JP 2015065020 W JP2015065020 W JP 2015065020W WO 2016189646 A1 WO2016189646 A1 WO 2016189646A1
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- the present invention relates to a bending mechanism and a flexible medical instrument.
- each joint piece can be selectively driven to swing by individually connecting a wire to each joint piece. Further, by connecting a plurality of wires to different positions in the circumferential direction around the longitudinal axis with respect to one joint piece, the joint piece can be driven to swing in a plurality of directions.
- JP 2009-1119064 A Japanese Patent No. 4332031
- An object of the present invention is to provide a bending mechanism and a flexible medical instrument that can prevent unintentional swinging of a joint piece and improve the reproducibility of movement.
- a plurality of components arranged in series along a longitudinal axis from a distal end side to a proximal end side and coupled so as to be able to swing with respect to each other about a swing axis that intersects the longitudinal axis.
- a plurality of pairs of long tension transmitting members connected to each of the plurality of curved joint members and transmitting tension for swinging the plurality of curved joint members independently of each other;
- a plurality of flexible sheath members that bundle each pair of the tension transmission members so as to be relatively movable in the longitudinal direction, and each of the plurality of sheath members is connected to each of the pair of tension transmission members.
- the pair of tension transmitting members are bundled up to a branch position disposed on the distal side of the swing axis positioned on the straight base end side of the curved joint member, and the pair is separated from each other on the distal side of the branch position.
- the tension transmitting member is the curved joint member.
- a bending mechanism that is connected to a different position.
- the tension when a tension is applied to any one of the tension transmission members, the tension is transmitted to the curved joint member to which the tension transmission member is connected, and the curved joint members are adjacent to each other. It swings with respect to the curved joint member. Thereby, the position and attitude
- a pair of tension transmission members connected to the same bending joint member are bundled by a sheath member to a position closer to the distal end side than the swing axis on the proximal side of the bending joint member. Therefore, when one bending joint member swings, the pair of tension transmitting members connected to the other same bending joint member are displaced substantially equally in the longitudinal direction. As a result, unintentional swinging of other joint pieces can be prevented, and the reproducibility of the operation can be improved.
- the sheath member may be a pair sheath in which a pair of sheaths each housing one tension transmission member are coupled in the radial direction.
- a plurality of flat plate-like members having through-holes that are disposed on the base end side of each of the bending joint members so as to intersect the longitudinal axis and penetrate in the plate thickness direction and into which the sheath member is inserted.
- a guide member may be provided.
- the guide member may be disposed on a plane including the swing axis.
- the tension transmitting member is curved around the swing axis, thereby further reducing the difference in displacement between a pair of tension transmitting members connected to the same bending joint member. The swing of the piece can be prevented more reliably.
- the through-holes may be provided so that the pair of tension transmission members are arranged at substantially the same distance in the same direction with respect to the swing axis.
- the guide member may have an opening that penetrates in the plate thickness direction on the radially inner side of the through hole.
- a plurality of units arranged in series along the longitudinal axis from the distal end side to the proximal end side and coupled to each other so as to be capable of swinging around a swing axis that intersects the longitudinal axis.
- a plurality of pairs of long tension transmitting members connected to each of the plurality of curved joint members and transmitting tension for swinging the plurality of curved joint members independently of each other;
- a plurality of flat plate-shaped guide members that are arranged on the base end side of each of the curved joint members so as to intersect the longitudinal axis and have through-holes that penetrate the plate thickness direction and into which the tension transmission member is inserted,
- a bending mechanism in which a pair of tension transmission members are inserted into the through holes.
- the tension when a tension is applied to any one of the tension transmission members, the tension is transmitted to the curved joint member to which the tension transmission member is connected, and the curved joint members are adjacent to each other. It swings with respect to the curved joint member. Thereby, the position and attitude
- the pair of tension transmitting members connected to the same bending joint member are bundled by passing through the same through hole of the guide member. Therefore, when one bending joint member swings, the pair of tension transmitting members connected to the other same bending joint member are displaced substantially equally in the longitudinal direction. As a result, unintentional swinging of other joint pieces can be prevented, and the reproducibility of the operation can be improved.
- the guide member may be disposed on a plane including the swing axis.
- the through-holes may be provided so that the pair of tension transmission members are arranged at substantially the same distance in the same direction with respect to the swing shaft.
- a third aspect of the present invention is a soft medical instrument including any one of the bending mechanisms described above and a cylindrical outer sheath having flexibility that covers the outer periphery of the bending mechanism. According to this aspect, by covering the bending mechanism with the outer sheath, it is possible to prevent the bending mechanism from coming into direct contact with the tissue in the body even when the bending mechanism is inserted into the body, thereby protecting the tissue and the bending mechanism and smoothing the bending mechanism. Operation can be ensured.
- FIG. 6 is a cross-sectional view taken along the line II of the sheath member of FIG. 5. It is a figure which shows the modification of the through-hole in the guide plate of FIG. It is a side view of the modification of the sheath member of FIG.
- FIG. 9 is a II-II cross-sectional view of the sheath member of FIG. It is a side view of the modification of the bending mechanism of FIG.
- FIG. 11 is a cross-sectional view taken along the line III-III of the bending mechanism of FIG. 10.
- the flexible medical device 2 according to this embodiment is applied to, for example, the medical system 100 shown in FIG.
- the medical system 100 includes a slave device 101, a master device 102 to which an operation on the slave device 101 is input by a doctor A, a controller 103 that controls the slave device 101 based on an input to the master device 102, a monitor 104.
- the slave device 101 includes an insertion unit 1 that is inserted into the body cavity of the patient P.
- the flexible medical instrument 2 according to the present embodiment is provided at the distal end of the insertion portion 1.
- the soft medical instrument 2 includes a bending mechanism 3 and an outer sheath 19 made of a flexible material that covers the outer surface of the bending mechanism 3.
- the bending mechanism 3 includes a plurality of joint pieces (curved joint members) 4 arranged in the longitudinal axis direction and connected in series, and a plurality of joint pieces 4 attached to each joint piece 4.
- the sheath member 7 is provided.
- the joint piece 4 includes a disk-shaped main body 9 having four through holes 8 arranged in the circumferential direction and penetrating in the thickness direction, and is provided at the center of the main body 9 to be long. And a first support column 10 extending to the base end side along the axis.
- the main body 9 has a structure in which an outer annular portion 9a and a first support column 10 positioned at the center of the annular portion 9a are connected in the radial direction by four spokes 11. ing. Thereby, the through-hole 8 surrounded by the annular portion 9a, the first support column 10 and the two adjacent spokes 11 is formed.
- the joint pieces 4 other than the most advanced joint piece 4 further include a second support column 12 extending along the longitudinal axis in the opposite direction to the first support column 10 with the main body 9 interposed therebetween.
- the base end of the first support column 10 is connected to the distal end of the second support column 12 provided in the adjacent joint piece 4 so as to be swingable about the swing axis S intersecting the longitudinal axis.
- a portion 13 is provided.
- the connecting portion 13 is configured so that the adjacent joint pieces 4 swing around the swing axis S perpendicular to each other.
- the specific configuration of the connecting portion 13 is not limited to this.
- the connecting portion 13 may be configured such that the swing axis S of the adjacent joint piece 4 intersects at an angle other than 90 °, and the adjacent joint pieces 4 swing around the swing axis S parallel to each other.
- the connecting portion 13 may be configured to move.
- the guide plate 5 is a disk-shaped member, and is disposed on a plane that intersects the longitudinal axis and includes the swing axis S. As shown in FIG. 4, the guide plate 5 has one fitting hole 14 and two through holes (openings) 15 that respectively penetrate in the plate thickness direction.
- the fitting hole 14 is formed in the center of the guide plate 5, and the guide plate 5 is attached to the joint piece 4 by fitting the proximal end portion of the first support column 10 into the fitting hole 14.
- the through holes 15 are provided on both sides in the radial direction of the fitting holes 14 so as to be aligned with the fitting holes 14 along the swing axis S.
- the built-in object 16 By inserting a built-in object 16 such as a soft treatment instrument, piping or a flexible endoscope into the through hole 15, the built-in object 16 can be guided from the proximal end side to the distal end side of the flexible medical instrument 2. It has become.
- a built-in object 16 such as a soft treatment instrument, piping or a flexible endoscope
- the guide plate 5 has a plurality of through holes 17 arranged in the circumferential direction at intervals and penetrating in the thickness direction. At least one of the plurality of through holes 17 is provided outside the through hole 15 in the radial direction so as to be aligned with the fitting hole 14 and the through hole 15 along the swing axis S.
- the diameter of the through-hole 17 is larger than the outer diameter of the sheath member 7, and is formed in such a dimension that the sheath member 7 is inserted so as to be movable in the longitudinal direction.
- the tension transmission member 6 is made of a metal wire.
- the sheath member 7 includes a pair of sheaths in which a pair of elongated cylindrical sheaths 7 a are connected in the radial direction from the distal end to the proximal end.
- Each sheath 7a is formed from a flexible material.
- the sheath 7 a has an inner diameter larger than the outer diameter of the tension transmission member 6 and a length shorter than the length of the tension transmission member 6.
- each sheath 7a one tension transmitting member 6 is inserted movably in the longitudinal direction one by one so that the distal end and proximal end of the tension transmitting member 6 protrude from the distal end and proximal end of the sheath 7a, respectively. Yes.
- the pair of tension transmitting members 6 are bundled together by the sheath member 7 and branched at the distal end and the proximal end of the sheath 7a.
- the tips of a pair of tension transmission members 6 bundled by a sheath member 7 are fixed to each joint piece 4.
- the pair of tension transmission members 6 are fixed one by one to the annular portion 9a of the main body 9 at positions facing each other across the first support column 10 in a plane including the longitudinal axis and perpendicular to the swing axis S.
- the tension transmission member 6 having the distal end fixed to the joint piece 4 has a through hole 17 and a main body portion of one or more guide plates 5 arranged on the proximal side of the joint piece 4. 9 through the through hole 8 and led to the proximal end side of the insertion portion 1.
- a plurality of tension transmitting members 6 fixed to the joint piece 4 to which the guide plate 5 provided with the through hole 17 is attached pass therethrough.
- the sheath member 7 is wired.
- the sheath member 7 passes through the through-hole 17 on the swing axis S, and the distal end of the sheath 7a, which is a branching position of the pair of tension transmission members 6, is disposed on the distal side of the swing axis S.
- the through hole 17 of the guide plate 5 has a flat rectangular shape having a major axis and a minor axis in a plane orthogonal to the longitudinal axis and the swing axis S, and two sheaths 7a are provided in the major axis direction. It has the dimension which can be inserted, and has a dimension which can insert only one sheath 7a in the short axis direction.
- the through-hole 17 is formed so that the long axis is parallel to the swing axis S.
- the pair of tension transmission members 6 penetrating through the through-hole 17 are arranged at an equal distance from the swing axis S, and are curved around the swing axis S with the same curvature.
- the shape of the through hole 17 may be any shape that can define the direction of the sheath member 7 that penetrates the through hole 17. For example, as shown in FIG.
- the shape may be complementary to the outer shape.
- the proximal end of the tension transmitting member 6 is connected to a motor (not shown) provided at the proximal end of the insertion portion 1.
- a motor not shown
- the controller 103 drives the motor in accordance with the input to the master device 102 and one of the tension transmission members 6 is pulled by the motor and tension is generated in the tension transmission member 6, the tip of the pulled tension transmission member 6 is moved.
- the fixed joint piece 4 and the guide plate 5 attached to the joint piece 4 swing integrally around the swing axis S.
- the surface of the sheath member 7 and the through hole are prevented so that the sheath member 7 does not adhere to the inner wall of the through hole 17 when the sheath member 7 comes into close contact with the inner wall of the through hole 17 due to the tension generated in the tension transmitting member 6.
- the 17 inner walls are made of different materials.
- the operation of the flexible medical instrument 2 and the bending mechanism 3 according to this embodiment configured as described above will be described.
- the joint piece 4 to which the tip of the tension transmitting member 6 to which tension is applied is fixed is the swing axis. Swings around S. Thereby, the position and attitude
- a pair of separate tension transmission members 6 is connected to each joint piece 4, by pulling any one of the plurality of pairs of tension transmission members 6, Only one can be selectively rocked.
- the tension transmission member 6 connected to the other joint piece 4 has the same swing axis S as the one joint piece 4. Curve around. Thereby, the path
- the pair of tension transmission members 6 connected to the same joint piece 4 are bundled by the sheath member 7 so that the distal end side of the pivot axis S on the proximal side of the joint piece 4 is closer to the distal end side. It bends with the same curvature around the swing axis S through the same path.
- the displacement amounts of the pair of tension transmission members 6 connected to the other joint pieces 4 are substantially equal to each other. Therefore, it is possible to prevent the swing angle of the other joint piece 4 from unintentionally changing with the swing of one joint piece 4 and to improve the reproducibility of the operation of the bending mechanism 3. There is an advantage that you can.
- the distal ends of the two sheaths 7a constituting the pair sheath are arranged at the same longitudinal position, and the distal ends of the two sheaths 7a are the branch positions.
- the two sheaths 7 a may be connected to a midway position in the longitudinal direction, and the distal ends of the two sheaths 7 a may be separated from each other.
- the cross-sectional shape of the sheath 7a may be a shape other than a circle, for example, a quadrangle as shown in FIG.
- the pair of tension transmission members 6 connected to the same joint piece 4 are bundled by the sheath member 7, but the sheath member 7 is omitted and the pair of tension members 6 is omitted.
- a pair of tension transmission members 6 may be bundled and wired along the same path by passing the transmission member 6 through the same through hole 15 of the guide plate 5. Even in this case, it is possible to reduce the difference in displacement amount between the pair of tension transmission members 6 due to the swing of the joint piece 4 and to prevent an unintended change in the swing angle of the joint piece 4.
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Abstract
A bending mechanism (3) comprises: a plurality of bending joint members (4) serially connected so as to be rockable relative to each other about rocking axes (S); a plurality of pairs of long tension transmission members (6), each pair of which is connected to one of the bending joint members (4); and a plurality of bendable sheath members (7), each binding a pair of tension transmission members (6) in a longitudinally relatively movable manner. Each of the sheath members (7) binds a portion of a pair of tension transmission members (6), the portion extending up to a separation position disposed further toward the distal end side than a rocking axis (S) located immediately on the proximal end side of a bending joint member (4) to which the pair of tension transmission members (6) are connected, and the pair of tension transmission members (6) which are separated from each other at a position further toward the distal end side than the separation position are connected to different positions of the bending joint member (4).
Description
本発明は、湾曲機構および軟性医療器具に関するものである。
The present invention relates to a bending mechanism and a flexible medical instrument.
従来、長手軸に沿って直列に連結された複数の関節駒と該関節駒に接続されたワイヤとを備え、ワイヤに張力を加えることによって関節駒を長手軸に交差する揺動軸線回りに揺動駆動する湾曲機構が知られている(例えば、特許文献1および2参照。)。このような湾曲機構において、各関節駒に個別にワイヤを接続することによって、各関節駒を選択的に揺動駆動することができる。また、1つの関節駒に対して、長手軸回りの周方向に異なる位置に複数のワイヤを接続することによって、関節駒を複数の方向に揺動駆動することができる。
2. Description of the Related Art Conventionally, a plurality of joint pieces connected in series along a longitudinal axis and a wire connected to the joint piece are provided, and by applying tension to the wire, the joint piece is swung around an oscillation axis intersecting the longitudinal axis. A bending mechanism that is dynamically driven is known (see, for example, Patent Documents 1 and 2). In such a bending mechanism, each joint piece can be selectively driven to swing by individually connecting a wire to each joint piece. Further, by connecting a plurality of wires to different positions in the circumferential direction around the longitudinal axis with respect to one joint piece, the joint piece can be driven to swing in a plurality of directions.
しかしながら、特許文献1および特許文献2の湾曲機構においては、一の関節駒を揺動駆動したときに、他の関節駒に接続されているワイヤの経路長が変化し、ワイヤが長手方向に変位する。このときに、同一の関節駒に接続されている複数のワイヤ間で変位量が異なることによって、駆動対象ではない他の関節が意図せずに揺動してしまうという問題がある。また、このときの他の関節の揺動角度は制御不能であるため、湾曲機構を同一の湾曲形状に変形しようとしても湾曲機構の湾曲形状がその都度異なってしまい、湾曲機構の同一の動作を正確に再現することが難しいという問題がある。
However, in the bending mechanisms of Patent Document 1 and Patent Document 2, when one joint piece is driven to swing, the path length of the wire connected to the other joint piece changes, and the wire is displaced in the longitudinal direction. To do. At this time, there is a problem that other joints that are not the object to be driven unintentionally swing due to the difference in displacement amount between the plurality of wires connected to the same joint piece. In addition, since the swing angle of the other joints at this time is uncontrollable, the bending shape of the bending mechanism changes each time even if the bending mechanism is deformed to the same bending shape, and the same operation of the bending mechanism is performed. There is a problem that it is difficult to reproduce accurately.
本発明は、意図しない関節駒の揺動を防止し、動作の再現性を向上することができる湾曲機構および軟性医療器具を提供することを目的としている。
An object of the present invention is to provide a bending mechanism and a flexible medical instrument that can prevent unintentional swinging of a joint piece and improve the reproducibility of movement.
本発明の第1の態様は、長手軸に沿って先端側から基端側へ向かって直列に配列し、前記長手軸に交差する揺動軸線回りに相互に揺動可能に連結された複数の湾曲関節部材と、該複数の湾曲関節部材の各々に一対ずつ接続され、前記複数の湾曲関節部材を互いに独立して揺動させるための張力を伝達する複数対の長尺の張力伝達部材と、各対の前記張力伝達部材を長手方向に相対移動可能に束ねる可撓性を有する複数本のシース部材とを備え、該複数本のシース部材の各々は、前記各対の張力伝達部材が接続されている湾曲関節部材の直基端側に位置する前記揺動軸線よりも先端側に配置された分岐位置まで前記一対の張力伝達部材を束ね、前記分岐位置よりも先端側において互いに分離した前記一対の張力伝達部材が、前記湾曲関節部材の異なる位置に接続されている湾曲機構である。
According to a first aspect of the present invention, a plurality of components arranged in series along a longitudinal axis from a distal end side to a proximal end side and coupled so as to be able to swing with respect to each other about a swing axis that intersects the longitudinal axis. A plurality of pairs of long tension transmitting members connected to each of the plurality of curved joint members and transmitting tension for swinging the plurality of curved joint members independently of each other; A plurality of flexible sheath members that bundle each pair of the tension transmission members so as to be relatively movable in the longitudinal direction, and each of the plurality of sheath members is connected to each of the pair of tension transmission members. The pair of tension transmitting members are bundled up to a branch position disposed on the distal side of the swing axis positioned on the straight base end side of the curved joint member, and the pair is separated from each other on the distal side of the branch position. The tension transmitting member is the curved joint member. A bending mechanism that is connected to a different position.
本発明の第1の態様によれば、いずれかの張力伝達部材に張力が付与されると、該張力伝達部材が接続されている湾曲関節部材に張力が伝播され、該湾曲関節部材が隣接する湾曲関節部材に対して揺動する。これにより、湾曲機構の先端部の位置および姿勢を変化させることができる。
According to the first aspect of the present invention, when a tension is applied to any one of the tension transmission members, the tension is transmitted to the curved joint member to which the tension transmission member is connected, and the curved joint members are adjacent to each other. It swings with respect to the curved joint member. Thereby, the position and attitude | position of the front-end | tip part of a bending mechanism can be changed.
この場合に、同一の湾曲関節部材に接続される一対の張力伝達部材は、当該湾曲関節部材の直基端側の揺動軸線よりも先端側の位置までシース部材によって束ねられている。したがって、一の湾曲関節部材が揺動したときに、他の同一の湾曲関節部材に接続されている一対の張力伝達部材は長手方向に略等しく変位する。これにより、意図しない他の関節駒の揺動を防止し、動作の再現性を向上することができる。
In this case, a pair of tension transmission members connected to the same bending joint member are bundled by a sheath member to a position closer to the distal end side than the swing axis on the proximal side of the bending joint member. Therefore, when one bending joint member swings, the pair of tension transmitting members connected to the other same bending joint member are displaced substantially equally in the longitudinal direction. As a result, unintentional swinging of other joint pieces can be prevented, and the reproducibility of the operation can be improved.
上記第1の態様においては、前記シース部材が、1本の前記張力伝達部材を各々収容する一対のシースが半径方向に連結されたペアシースであってもよい。
このようにすることで、シース部材を簡易に製造することができる。 In the first aspect, the sheath member may be a pair sheath in which a pair of sheaths each housing one tension transmission member are coupled in the radial direction.
By doing in this way, a sheath member can be manufactured simply.
このようにすることで、シース部材を簡易に製造することができる。 In the first aspect, the sheath member may be a pair sheath in which a pair of sheaths each housing one tension transmission member are coupled in the radial direction.
By doing in this way, a sheath member can be manufactured simply.
上記第1の態様においては、各前記湾曲関節部材の基端側に前記長手軸に交差して配置され、板厚方向に貫通し前記シース部材が挿入される貫通孔を有する複数の平板状のガイド部材を備えていてもよい。
このようにすることで、シース部材をガイド部材の貫通孔を経由して長手軸に沿う方向に配線することによって、張力伝達部材の配線経路を規定することができる。 In the first aspect, a plurality of flat plate-like members having through-holes that are disposed on the base end side of each of the bending joint members so as to intersect the longitudinal axis and penetrate in the plate thickness direction and into which the sheath member is inserted. A guide member may be provided.
By doing so, the wiring path of the tension transmitting member can be defined by wiring the sheath member in the direction along the longitudinal axis via the through hole of the guide member.
このようにすることで、シース部材をガイド部材の貫通孔を経由して長手軸に沿う方向に配線することによって、張力伝達部材の配線経路を規定することができる。 In the first aspect, a plurality of flat plate-like members having through-holes that are disposed on the base end side of each of the bending joint members so as to intersect the longitudinal axis and penetrate in the plate thickness direction and into which the sheath member is inserted. A guide member may be provided.
By doing so, the wiring path of the tension transmitting member can be defined by wiring the sheath member in the direction along the longitudinal axis via the through hole of the guide member.
上記第1の態様においては前記ガイド部材が、前記揺動軸線を含む平面上に配置されていてもよい。
このようにすることで、張力伝達部材が揺動軸線回りに湾曲することによって、同一の湾曲関節部材に接続されている一対の張力伝達部材間の変位量の差をさらに低減し、意図しない関節駒の揺動をさらに確実に防止することができる。 In the first aspect, the guide member may be disposed on a plane including the swing axis.
By doing so, the tension transmitting member is curved around the swing axis, thereby further reducing the difference in displacement between a pair of tension transmitting members connected to the same bending joint member. The swing of the piece can be prevented more reliably.
このようにすることで、張力伝達部材が揺動軸線回りに湾曲することによって、同一の湾曲関節部材に接続されている一対の張力伝達部材間の変位量の差をさらに低減し、意図しない関節駒の揺動をさらに確実に防止することができる。 In the first aspect, the guide member may be disposed on a plane including the swing axis.
By doing so, the tension transmitting member is curved around the swing axis, thereby further reducing the difference in displacement between a pair of tension transmitting members connected to the same bending joint member. The swing of the piece can be prevented more reliably.
上記第1の態様においては、前記貫通孔が、前記一対の前記張力伝達部材を前記揺動軸線に対して同一方向にほぼ同一距離だけ離れた位置に配置するように設けられていてもよい。
このようにすることで、同一の湾曲関節部材に接続されている一対の張力伝達部材が同一の曲率で揺動軸線回りに湾曲するので、一対の張力伝達部材間の変位量の差をさらに低減し、意図しない関節駒の揺動をさらに確実に防止することができる。 In the first aspect, the through-holes may be provided so that the pair of tension transmission members are arranged at substantially the same distance in the same direction with respect to the swing axis.
By doing so, the pair of tension transmission members connected to the same bending joint member bend around the swing axis with the same curvature, so that the difference in displacement between the pair of tension transmission members is further reduced. In addition, unintended swinging of the joint piece can be prevented more reliably.
このようにすることで、同一の湾曲関節部材に接続されている一対の張力伝達部材が同一の曲率で揺動軸線回りに湾曲するので、一対の張力伝達部材間の変位量の差をさらに低減し、意図しない関節駒の揺動をさらに確実に防止することができる。 In the first aspect, the through-holes may be provided so that the pair of tension transmission members are arranged at substantially the same distance in the same direction with respect to the swing axis.
By doing so, the pair of tension transmission members connected to the same bending joint member bend around the swing axis with the same curvature, so that the difference in displacement between the pair of tension transmission members is further reduced. In addition, unintended swinging of the joint piece can be prevented more reliably.
上記第1の態様においては、前記ガイド部材が、前記貫通孔よりも半径方向内側に、板厚方向に貫通する開口部を有していてもよい。
このようにすることで、処置具や配管等の内蔵物を、開口部を経由して湾曲機構の基端側から先端側まで長手軸に沿う方向に配線することができる。 In the first aspect, the guide member may have an opening that penetrates in the plate thickness direction on the radially inner side of the through hole.
By doing in this way, built-in objects, such as a treatment tool and piping, can be wired in the direction along a longitudinal axis from the base end side to the tip end side of a bending mechanism via an opening.
このようにすることで、処置具や配管等の内蔵物を、開口部を経由して湾曲機構の基端側から先端側まで長手軸に沿う方向に配線することができる。 In the first aspect, the guide member may have an opening that penetrates in the plate thickness direction on the radially inner side of the through hole.
By doing in this way, built-in objects, such as a treatment tool and piping, can be wired in the direction along a longitudinal axis from the base end side to the tip end side of a bending mechanism via an opening.
本発明の第2の態様は、長手軸に沿って先端側から基端側へ向かって直列に配列し、前記長手軸に交差する揺動軸線回りに相互に揺動可能に連結された複数の湾曲関節部材と、該複数の湾曲関節部材の各々に一対ずつ接続され、前記複数の湾曲関節部材を互いに独立して揺動させるための張力を伝達する複数対の長尺の張力伝達部材と、各前記湾曲関節部材の基端側に前記長手軸に交差して配置され、板厚方向に貫通し前記張力伝達部材が挿入される貫通孔を有する複数の平板状のガイド部材とを備え、各前記貫通孔に一対の張力伝達部材が挿入されている湾曲機構である。
According to a second aspect of the present invention, there are provided a plurality of units arranged in series along the longitudinal axis from the distal end side to the proximal end side and coupled to each other so as to be capable of swinging around a swing axis that intersects the longitudinal axis. A plurality of pairs of long tension transmitting members connected to each of the plurality of curved joint members and transmitting tension for swinging the plurality of curved joint members independently of each other; A plurality of flat plate-shaped guide members that are arranged on the base end side of each of the curved joint members so as to intersect the longitudinal axis and have through-holes that penetrate the plate thickness direction and into which the tension transmission member is inserted, A bending mechanism in which a pair of tension transmission members are inserted into the through holes.
本発明の第2の態様によれば、いずれかの張力伝達部材に張力が付与されると、該張力伝達部材が接続されている湾曲関節部材に張力が伝播され、該湾曲関節部材が隣接する湾曲関節部材に対して揺動する。これにより、湾曲機構の先端部の位置および姿勢を変化させることができる。
According to the second aspect of the present invention, when a tension is applied to any one of the tension transmission members, the tension is transmitted to the curved joint member to which the tension transmission member is connected, and the curved joint members are adjacent to each other. It swings with respect to the curved joint member. Thereby, the position and attitude | position of the front-end | tip part of a bending mechanism can be changed.
この場合に、同一の湾曲関節部材に接続される一対の張力伝達部材は、ガイド部材の同一の貫通孔を通過することによって束ねられている。したがって、一の湾曲関節部材が揺動したときに、他の同一の湾曲関節部材に接続されている一対の張力伝達部材は長手方向に略等しく変位する。これにより、意図しない他の関節駒の揺動を防止し、動作の再現性を向上することができる。
In this case, the pair of tension transmitting members connected to the same bending joint member are bundled by passing through the same through hole of the guide member. Therefore, when one bending joint member swings, the pair of tension transmitting members connected to the other same bending joint member are displaced substantially equally in the longitudinal direction. As a result, unintentional swinging of other joint pieces can be prevented, and the reproducibility of the operation can be improved.
上記第2の態様においては、前記ガイド部材が、前記揺動軸線を含む平面上に配置されていてもよい。
上記第2の態様においては、前記貫通孔が、前記一対の前記張力伝達部材を前記揺動軸に対して同一方向にほぼ同一距離だけ離れた位置に配置するように設けられていてもよい。 In the second aspect, the guide member may be disposed on a plane including the swing axis.
In the second aspect, the through-holes may be provided so that the pair of tension transmission members are arranged at substantially the same distance in the same direction with respect to the swing shaft.
上記第2の態様においては、前記貫通孔が、前記一対の前記張力伝達部材を前記揺動軸に対して同一方向にほぼ同一距離だけ離れた位置に配置するように設けられていてもよい。 In the second aspect, the guide member may be disposed on a plane including the swing axis.
In the second aspect, the through-holes may be provided so that the pair of tension transmission members are arranged at substantially the same distance in the same direction with respect to the swing shaft.
本発明の第3の態様は、上記いずれかの湾曲機構と、該湾曲機構の外周を被覆する可撓性を有する筒状のアウタシースとを備える軟性医療器具である。
本態様によれば、湾曲機構をアウタシースによって被覆することにより、体内に挿入しても湾曲機構が体内の組織に直接接触することを防止して、組織および湾曲機構の保護、湾曲機構の円滑な動作を確保することができる。 A third aspect of the present invention is a soft medical instrument including any one of the bending mechanisms described above and a cylindrical outer sheath having flexibility that covers the outer periphery of the bending mechanism.
According to this aspect, by covering the bending mechanism with the outer sheath, it is possible to prevent the bending mechanism from coming into direct contact with the tissue in the body even when the bending mechanism is inserted into the body, thereby protecting the tissue and the bending mechanism and smoothing the bending mechanism. Operation can be ensured.
本態様によれば、湾曲機構をアウタシースによって被覆することにより、体内に挿入しても湾曲機構が体内の組織に直接接触することを防止して、組織および湾曲機構の保護、湾曲機構の円滑な動作を確保することができる。 A third aspect of the present invention is a soft medical instrument including any one of the bending mechanisms described above and a cylindrical outer sheath having flexibility that covers the outer periphery of the bending mechanism.
According to this aspect, by covering the bending mechanism with the outer sheath, it is possible to prevent the bending mechanism from coming into direct contact with the tissue in the body even when the bending mechanism is inserted into the body, thereby protecting the tissue and the bending mechanism and smoothing the bending mechanism. Operation can be ensured.
本発明によれば、意図しない関節駒の揺動を防止し、動作の再現性を向上することができるという効果を奏する。
According to the present invention, it is possible to prevent unintentional swinging of the joint piece and improve the reproducibility of the operation.
本発明の一実施形態に係る軟性医療器具および湾曲機構について、図面を参照して以下に説明する。
本実施形態に係る軟性医療器具2は、例えば、図1に示される医療用システム100に適用されるものである。 A flexible medical device and a bending mechanism according to an embodiment of the present invention will be described below with reference to the drawings.
The flexiblemedical device 2 according to this embodiment is applied to, for example, the medical system 100 shown in FIG.
本実施形態に係る軟性医療器具2は、例えば、図1に示される医療用システム100に適用されるものである。 A flexible medical device and a bending mechanism according to an embodiment of the present invention will be described below with reference to the drawings.
The flexible
医療用システム100は、スレーブ装置101と、該スレーブ装置101に対する操作が医師Aによって入力されるマスタ装置102と、該マスタ装置102への入力に基づいてスレーブ装置101を制御するコントローラ103と、モニタ104とを備えている。スレーブ装置101は、患者Pの体腔内に挿入される挿入部1を備えている。本実施形態に係る軟性医療器具2は、挿入部1の先端に設けられている。
The medical system 100 includes a slave device 101, a master device 102 to which an operation on the slave device 101 is input by a doctor A, a controller 103 that controls the slave device 101 based on an input to the master device 102, a monitor 104. The slave device 101 includes an insertion unit 1 that is inserted into the body cavity of the patient P. The flexible medical instrument 2 according to the present embodiment is provided at the distal end of the insertion portion 1.
本実施形態に係る軟性医療器具2は、図2に示されるように、湾曲機構3と、該湾曲機構3の外面を被覆し可撓性を有する材料からなるアウタシース19とを備えている。
本実施形態に係る湾曲機構3は、図2に示されるように、長手軸方向に配列し直列に連結された複数の関節駒(湾曲関節部材)4と、各関節駒4に取り付けられた複数のガイドプレート(ガイド部材)5と、ガイドプレート5および関節駒4を貫通して先端がいずれか1つの関節駒4に接続された複数本の張力伝達部材6と、該張力伝達部材6を被覆するシース部材7とを備えている。 As shown in FIG. 2, the softmedical instrument 2 according to the present embodiment includes a bending mechanism 3 and an outer sheath 19 made of a flexible material that covers the outer surface of the bending mechanism 3.
As shown in FIG. 2, thebending mechanism 3 according to this embodiment includes a plurality of joint pieces (curved joint members) 4 arranged in the longitudinal axis direction and connected in series, and a plurality of joint pieces 4 attached to each joint piece 4. A guide plate (guide member) 5, a plurality of tension transmission members 6 penetrating the guide plate 5 and the joint piece 4 and having the tip connected to any one joint piece 4, and the tension transmission member 6 covered The sheath member 7 is provided.
本実施形態に係る湾曲機構3は、図2に示されるように、長手軸方向に配列し直列に連結された複数の関節駒(湾曲関節部材)4と、各関節駒4に取り付けられた複数のガイドプレート(ガイド部材)5と、ガイドプレート5および関節駒4を貫通して先端がいずれか1つの関節駒4に接続された複数本の張力伝達部材6と、該張力伝達部材6を被覆するシース部材7とを備えている。 As shown in FIG. 2, the soft
As shown in FIG. 2, the
関節駒4は、図3に示されるように、周方向に配列し厚さ方向に貫通する4つの貫通孔8を有する円板状の本体部9と、該本体部9の中央に設けられ長手軸に沿って基端側へ延びる第1の支柱部10とを備えている。具体的には、本体部9は、外周の円環状部分9aと該円環状部分9aの中央に位置する第1の支柱部10とを4本のスポーク11によって半径方向に連結した構造を有している。これにより、円環状部分9a、第1の支柱部10および隣接する2本のスポーク11によって囲まれた貫通孔8が形成されている。
As shown in FIG. 3, the joint piece 4 includes a disk-shaped main body 9 having four through holes 8 arranged in the circumferential direction and penetrating in the thickness direction, and is provided at the center of the main body 9 to be long. And a first support column 10 extending to the base end side along the axis. Specifically, the main body 9 has a structure in which an outer annular portion 9a and a first support column 10 positioned at the center of the annular portion 9a are connected in the radial direction by four spokes 11. ing. Thereby, the through-hole 8 surrounded by the annular portion 9a, the first support column 10 and the two adjacent spokes 11 is formed.
最先端の関節駒4以外の関節駒4は、本体部9を挟んで第1の支柱部10とは逆方向に長手軸に沿って延びる第2の支柱部12をさらに備えている。第1の支柱部10の基端には、隣接する関節駒4に設けられている第2の支柱部12の先端と長手軸に交差する揺動軸線S回りに揺動可能に連結される連結部13が設けられている。
The joint pieces 4 other than the most advanced joint piece 4 further include a second support column 12 extending along the longitudinal axis in the opposite direction to the first support column 10 with the main body 9 interposed therebetween. The base end of the first support column 10 is connected to the distal end of the second support column 12 provided in the adjacent joint piece 4 so as to be swingable about the swing axis S intersecting the longitudinal axis. A portion 13 is provided.
図2および図3に示す例では、隣接する関節駒4が互いに直交する揺動軸線S回りに揺動するように連結部13が構成されている。ただし、連結部13の具体的な構成はこれに限定されるものではない。例えば、隣接する関節駒4の揺動軸線Sが90°以外の角度で交差するように連結部13が構成されていてもよく、隣接する関節駒4が互いに平行な揺動軸線S回りに揺動するように連結部13が構成されていてもよい。
In the example shown in FIGS. 2 and 3, the connecting portion 13 is configured so that the adjacent joint pieces 4 swing around the swing axis S perpendicular to each other. However, the specific configuration of the connecting portion 13 is not limited to this. For example, the connecting portion 13 may be configured such that the swing axis S of the adjacent joint piece 4 intersects at an angle other than 90 °, and the adjacent joint pieces 4 swing around the swing axis S parallel to each other. The connecting portion 13 may be configured to move.
ガイドプレート5は、円板状の部材であり、長手軸に交差し揺動軸線Sを含む平面上に配置されている。ガイドプレート5は、図4に示されるように、それぞれ板厚方向に貫通する1個の嵌合孔14および2個の貫通孔(開口部)15を有している。嵌合孔14は、ガイドプレート5の中央に形成され、第1の支柱部10の基端部が嵌合孔14内に嵌合することによってガイドプレート5が関節駒4に取り付けられている。貫通孔15は、揺動軸線Sに沿って嵌合孔14と一列に配列するように嵌合孔14の半径方向両側に設けられている。軟性の処置具、配管あるいは軟性内視鏡のような内蔵物16を貫通孔15内に挿入することによって、内蔵物16を軟性医療器具2の基端側から先端側へ導くことができるようになっている。
The guide plate 5 is a disk-shaped member, and is disposed on a plane that intersects the longitudinal axis and includes the swing axis S. As shown in FIG. 4, the guide plate 5 has one fitting hole 14 and two through holes (openings) 15 that respectively penetrate in the plate thickness direction. The fitting hole 14 is formed in the center of the guide plate 5, and the guide plate 5 is attached to the joint piece 4 by fitting the proximal end portion of the first support column 10 into the fitting hole 14. The through holes 15 are provided on both sides in the radial direction of the fitting holes 14 so as to be aligned with the fitting holes 14 along the swing axis S. By inserting a built-in object 16 such as a soft treatment instrument, piping or a flexible endoscope into the through hole 15, the built-in object 16 can be guided from the proximal end side to the distal end side of the flexible medical instrument 2. It has become.
さらに、ガイドプレート5は、周方向に間隔をあけて配列し、板厚方向に貫通する複数個の貫通孔17を有している。複数個の貫通孔17の内、少なくとも1つは、揺動軸線Sに沿って嵌合孔14および貫通孔15と一列に配列するように、貫通孔15の半径方向外側に設けられている。貫通孔17の口径は、シース部材7の外径よりも大きく、シース部材7が長手方向に移動可能に挿入される寸法に形成されている。
Furthermore, the guide plate 5 has a plurality of through holes 17 arranged in the circumferential direction at intervals and penetrating in the thickness direction. At least one of the plurality of through holes 17 is provided outside the through hole 15 in the radial direction so as to be aligned with the fitting hole 14 and the through hole 15 along the swing axis S. The diameter of the through-hole 17 is larger than the outer diameter of the sheath member 7, and is formed in such a dimension that the sheath member 7 is inserted so as to be movable in the longitudinal direction.
張力伝達部材6は、金属製のワイヤからなる。
シース部材7は、図5および図6に示されるように、一対の細長い円筒状のシース7aが先端から基端まで半径方向に連結されたペアシースからなる。各シース7aは、可撓性を有する材料から形成されている。シース7aは、張力伝達部材6の外径よりも大きな内径と、張力伝達部材6の長さよりも短い長さとを有している。各シース7a内には、張力伝達部材6の先端部および基端部がシース7aの先端および基端からそれぞれ突出するように、張力伝達部材6が1本ずつ長手方向に移動可能に挿入されている。これにより、一対の張力伝達部材6は、シース部材7によって1つに束ねられ、シース7aの先端および基端において分岐している。 Thetension transmission member 6 is made of a metal wire.
As shown in FIGS. 5 and 6, thesheath member 7 includes a pair of sheaths in which a pair of elongated cylindrical sheaths 7 a are connected in the radial direction from the distal end to the proximal end. Each sheath 7a is formed from a flexible material. The sheath 7 a has an inner diameter larger than the outer diameter of the tension transmission member 6 and a length shorter than the length of the tension transmission member 6. In each sheath 7a, one tension transmitting member 6 is inserted movably in the longitudinal direction one by one so that the distal end and proximal end of the tension transmitting member 6 protrude from the distal end and proximal end of the sheath 7a, respectively. Yes. As a result, the pair of tension transmitting members 6 are bundled together by the sheath member 7 and branched at the distal end and the proximal end of the sheath 7a.
シース部材7は、図5および図6に示されるように、一対の細長い円筒状のシース7aが先端から基端まで半径方向に連結されたペアシースからなる。各シース7aは、可撓性を有する材料から形成されている。シース7aは、張力伝達部材6の外径よりも大きな内径と、張力伝達部材6の長さよりも短い長さとを有している。各シース7a内には、張力伝達部材6の先端部および基端部がシース7aの先端および基端からそれぞれ突出するように、張力伝達部材6が1本ずつ長手方向に移動可能に挿入されている。これにより、一対の張力伝達部材6は、シース部材7によって1つに束ねられ、シース7aの先端および基端において分岐している。 The
As shown in FIGS. 5 and 6, the
各関節駒4には、シース部材7によって束ねられた一対の張力伝達部材6の先端が固定されている。一対の張力伝達部材6は、長手軸を含み揺動軸線Sに直交する平面内の第1の支柱部10を挟んで互いに対向する位置において、本体部9の円環状部分9aに1本ずつ固定されている。関節駒4に先端が固定された張力伝達部材6は、図2に示されるように、該関節駒4よりも基端側に配されている1以上のガイドプレート5の貫通孔17および本体部9の貫通孔8を通過して挿入部1の基端側まで導かれている。
The tips of a pair of tension transmission members 6 bundled by a sheath member 7 are fixed to each joint piece 4. The pair of tension transmission members 6 are fixed one by one to the annular portion 9a of the main body 9 at positions facing each other across the first support column 10 in a plane including the longitudinal axis and perpendicular to the swing axis S. Has been. As shown in FIG. 2, the tension transmission member 6 having the distal end fixed to the joint piece 4 has a through hole 17 and a main body portion of one or more guide plates 5 arranged on the proximal side of the joint piece 4. 9 through the through hole 8 and led to the proximal end side of the insertion portion 1.
揺動軸線S上の貫通孔17内には、該貫通孔17が設けられているガイドプレート5が取り付けられている関節駒4に固定されている張力伝達部材6が貫通するように、複数のシース部材7が配線されている。シース部材7は揺動軸線S上の貫通孔17を貫通し、一対の張力伝達部材6の分岐位置であるシース7aの先端が揺動軸線Sよりも先端側に配置されている。
In the through hole 17 on the swing axis S, a plurality of tension transmitting members 6 fixed to the joint piece 4 to which the guide plate 5 provided with the through hole 17 is attached pass therethrough. The sheath member 7 is wired. The sheath member 7 passes through the through-hole 17 on the swing axis S, and the distal end of the sheath 7a, which is a branching position of the pair of tension transmission members 6, is disposed on the distal side of the swing axis S.
ここで、ガイドプレート5の貫通孔17は、長手軸および揺動軸線Sに直交する平面において長軸および短軸を有する扁平な矩形形状を有し、長軸方向には2本のシース7aを挿入可能な寸法を有し、短軸方向には1本のシース7aのみを挿入可能な寸法を有している。また、貫通孔17は、長軸が揺動軸線Sと平行になるように形成されている。これにより、貫通孔17内を貫通する一対の張力伝達部材6は、揺動軸線Sから等しい距離に配置され、揺動軸線S回りに同一の曲率で湾曲するようになっている。
なお、貫通孔17の形状は、該貫通孔17を貫通するシース部材7の向きを規定することができる形状であればよく、例えば、図7に示されるように、シース部材7の横断面の外形に対して相補的な形状であってもよい。 Here, the throughhole 17 of the guide plate 5 has a flat rectangular shape having a major axis and a minor axis in a plane orthogonal to the longitudinal axis and the swing axis S, and two sheaths 7a are provided in the major axis direction. It has the dimension which can be inserted, and has a dimension which can insert only one sheath 7a in the short axis direction. The through-hole 17 is formed so that the long axis is parallel to the swing axis S. As a result, the pair of tension transmission members 6 penetrating through the through-hole 17 are arranged at an equal distance from the swing axis S, and are curved around the swing axis S with the same curvature.
The shape of the throughhole 17 may be any shape that can define the direction of the sheath member 7 that penetrates the through hole 17. For example, as shown in FIG. The shape may be complementary to the outer shape.
なお、貫通孔17の形状は、該貫通孔17を貫通するシース部材7の向きを規定することができる形状であればよく、例えば、図7に示されるように、シース部材7の横断面の外形に対して相補的な形状であってもよい。 Here, the through
The shape of the through
張力伝達部材6の基端は、挿入部1の基端に設けられたモータ(図示略)に接続されている。マスタ装置102への入力に従ってコントローラ103がモータを駆動し、モータによっていずれかの張力伝達部材6が牽引されて該張力伝達部材6に張力が発生すると、牽引されている張力伝達部材6の先端が固定されている関節駒4と該関節駒4に取り付けられたガイドプレート5とが一体的に揺動軸線S回りに揺動するようになっている。
The proximal end of the tension transmitting member 6 is connected to a motor (not shown) provided at the proximal end of the insertion portion 1. When the controller 103 drives the motor in accordance with the input to the master device 102 and one of the tension transmission members 6 is pulled by the motor and tension is generated in the tension transmission member 6, the tip of the pulled tension transmission member 6 is moved. The fixed joint piece 4 and the guide plate 5 attached to the joint piece 4 swing integrally around the swing axis S.
張力伝達部材6に張力が生じることによってシース部材7が貫通孔17の内壁に密着したときにシース部材7が貫通孔17の内壁に固着することがないように、シース部材7の表面と貫通孔17の内壁とは、互いに異なる材料から形成されている。
The surface of the sheath member 7 and the through hole are prevented so that the sheath member 7 does not adhere to the inner wall of the through hole 17 when the sheath member 7 comes into close contact with the inner wall of the through hole 17 due to the tension generated in the tension transmitting member 6. The 17 inner walls are made of different materials.
次に、このように構成された本実施形態に係る軟性医療器具2および湾曲機構3の作用について説明する。
本実施形態に係る湾曲機構3によれば、張力伝達部材6が牽引されて張力が付与されると、張力が付与された張力伝達部材6の先端が固定されている関節駒4が揺動軸線S回りに揺動する。これにより、湾曲機構3の先端部の位置および姿勢を変化させることができる。また、関節駒4毎に別々の一対の張力伝達部材6が接続されているので、複数対の張力伝達部材6の内のいずれか1つを牽引することによって、複数の関節駒4の内の1つのみを選択的に揺動させることができる。 Next, the operation of the flexiblemedical instrument 2 and the bending mechanism 3 according to this embodiment configured as described above will be described.
According to thebending mechanism 3 according to the present embodiment, when the tension transmitting member 6 is pulled and tension is applied, the joint piece 4 to which the tip of the tension transmitting member 6 to which tension is applied is fixed is the swing axis. Swings around S. Thereby, the position and attitude | position of the front-end | tip part of the bending mechanism 3 can be changed. In addition, since a pair of separate tension transmission members 6 is connected to each joint piece 4, by pulling any one of the plurality of pairs of tension transmission members 6, Only one can be selectively rocked.
本実施形態に係る湾曲機構3によれば、張力伝達部材6が牽引されて張力が付与されると、張力が付与された張力伝達部材6の先端が固定されている関節駒4が揺動軸線S回りに揺動する。これにより、湾曲機構3の先端部の位置および姿勢を変化させることができる。また、関節駒4毎に別々の一対の張力伝達部材6が接続されているので、複数対の張力伝達部材6の内のいずれか1つを牽引することによって、複数の関節駒4の内の1つのみを選択的に揺動させることができる。 Next, the operation of the flexible
According to the
この場合に、一の関節駒4が揺動軸線S回りに揺動したときに、他の関節駒4に接続されている張力伝達部材6が、一の関節駒4と同一の揺動軸線S回りに湾曲する。これにより、他の関節駒4に接続されている張力伝達部材6の経路長が変化し、張力伝達部材6が長手方向に変位する。ただし、同一の関節駒4に接続されている一対の張力伝達部材6は、シース部材7によって束ねられていることにより、当該関節駒4の直基端側の揺動軸線Sよりも先端側まで同一経路を通り、かつ、揺動軸線S回りに等しい曲率で湾曲する。したがって、他の関節駒4に接続されている一対の張力伝達部材6の変位量は互いに略等しくなる。これにより、一の関節駒4の揺動に伴って他の関節駒4の揺動角度が意図せずに変化してしまうことを防止し、湾曲機構3の動作の再現性を向上することができるという利点がある。
In this case, when one joint piece 4 swings around the swing axis S, the tension transmission member 6 connected to the other joint piece 4 has the same swing axis S as the one joint piece 4. Curve around. Thereby, the path | route length of the tension transmission member 6 connected to the other joint piece 4 changes, and the tension transmission member 6 is displaced to a longitudinal direction. However, the pair of tension transmission members 6 connected to the same joint piece 4 are bundled by the sheath member 7 so that the distal end side of the pivot axis S on the proximal side of the joint piece 4 is closer to the distal end side. It bends with the same curvature around the swing axis S through the same path. Accordingly, the displacement amounts of the pair of tension transmission members 6 connected to the other joint pieces 4 are substantially equal to each other. Thereby, it is possible to prevent the swing angle of the other joint piece 4 from unintentionally changing with the swing of one joint piece 4 and to improve the reproducibility of the operation of the bending mechanism 3. There is an advantage that you can.
なお、本実施形態においては、ペアシースを構成する2本のシース7aの先端が同一の長手方向位置に配置され、2本のシース7aの先端が分岐位置であることとしたが、これに代えて、図8に示されるように、2本のシース7aが長手方向の途中位置まで連結され、2本のシース7aの先端部が互いに分離していてもよい。また、シース7aの横断面形状は、円形以外の形状であってもよく、例えば、図9に示されるように四角形であってもよい。
In the present embodiment, the distal ends of the two sheaths 7a constituting the pair sheath are arranged at the same longitudinal position, and the distal ends of the two sheaths 7a are the branch positions. As shown in FIG. 8, the two sheaths 7 a may be connected to a midway position in the longitudinal direction, and the distal ends of the two sheaths 7 a may be separated from each other. Moreover, the cross-sectional shape of the sheath 7a may be a shape other than a circle, for example, a quadrangle as shown in FIG.
また、本実施形態においては、関節駒4として中央に第1の支柱部10を有するものを採用し、ガイドプレート5として第1の支柱部10を嵌合させる嵌合孔14を有するものを例示したが、これに代えて、図10および図11に示されるように、筒状の関節駒18を採用し、該関節駒18の内側にガイドプレート5を配置してもよい。図11の湾曲機構3のガイドプレート5においては、嵌合孔14が不要であり、貫通孔15がガイドプレート5の中央に設けられている。
Moreover, in this embodiment, what has the 1st support | pillar part 10 in the center as a joint piece 4 is employ | adopted, and what has the fitting hole 14 which fits the 1st support | pillar part 10 as a guide plate 5 is illustrated. However, instead of this, as shown in FIGS. 10 and 11, a cylindrical joint piece 18 may be adopted, and the guide plate 5 may be arranged inside the joint piece 18. In the guide plate 5 of the bending mechanism 3 in FIG. 11, the fitting hole 14 is unnecessary, and the through hole 15 is provided in the center of the guide plate 5.
また、本実施形態においては、同一の関節駒4に接続されている一対の張力伝達部材6をシース部材7によって束ねることとしたが、これに代えて、シース部材7を省略し、一対の張力伝達部材6をガイドプレート5の同一の貫通孔15に貫通させることによって一対の張力伝達部材6を束ねて同一の経路に沿って配線してもよい。
このようにしても、関節駒4の揺動に伴う一対の張力伝達部材6間の変位量の差を低減し、意図しない関節駒4の揺動角度の変化を防止することができる。 In the present embodiment, the pair oftension transmission members 6 connected to the same joint piece 4 are bundled by the sheath member 7, but the sheath member 7 is omitted and the pair of tension members 6 is omitted. A pair of tension transmission members 6 may be bundled and wired along the same path by passing the transmission member 6 through the same through hole 15 of the guide plate 5.
Even in this case, it is possible to reduce the difference in displacement amount between the pair oftension transmission members 6 due to the swing of the joint piece 4 and to prevent an unintended change in the swing angle of the joint piece 4.
このようにしても、関節駒4の揺動に伴う一対の張力伝達部材6間の変位量の差を低減し、意図しない関節駒4の揺動角度の変化を防止することができる。 In the present embodiment, the pair of
Even in this case, it is possible to reduce the difference in displacement amount between the pair of
3 湾曲機構
4,18 関節駒(湾曲関節部材)
5 ガイドプレート(ガイド部材)
6 張力伝達部材
7 シース部材
7a シース
15 貫通孔(開口部)
17 貫通孔
19 アウタシース
S 揺動軸線 3 Bending mechanism 4, 18 Joint piece (curved joint member)
5 Guide plate (guide member)
6Tension transmitting member 7 Sheath member 7a Sheath 15 Through hole (opening)
17 Through-hole 19 Outer sheath S Oscillation axis
4,18 関節駒(湾曲関節部材)
5 ガイドプレート(ガイド部材)
6 張力伝達部材
7 シース部材
7a シース
15 貫通孔(開口部)
17 貫通孔
19 アウタシース
S 揺動軸線 3
5 Guide plate (guide member)
6
17 Through-
Claims (10)
- 長手軸に沿って先端側から基端側へ向かって直列に配列し、前記長手軸に交差する揺動軸線回りに相互に揺動可能に連結された複数の湾曲関節部材と、
該複数の湾曲関節部材の各々に一対ずつ接続され、前記複数の湾曲関節部材を互いに独立して揺動させるための張力を伝達する複数対の長尺の張力伝達部材と、
各対の前記張力伝達部材を長手方向に相対移動可能に束ねる可撓性を有する複数本のシース部材とを備え、
該複数本のシース部材の各々は、前記各対の張力伝達部材が接続されている湾曲関節部材の直基端側に位置する前記揺動軸線よりも先端側に配置された分岐位置まで前記一対の張力伝達部材を束ね、
前記分岐位置よりも先端側において互いに分離した前記一対の張力伝達部材が、前記湾曲関節部材の異なる位置に接続されている湾曲機構。 A plurality of curved joint members arranged in series along the longitudinal axis from the distal end side to the proximal end side and coupled to each other so as to be swingable around a swing axis intersecting the longitudinal axis;
A plurality of pairs of elongated tension transmitting members connected to each of the plurality of curved joint members and transmitting tensions for swinging the plurality of curved joint members independently of each other;
A plurality of flexible sheath members for bundling each pair of the tension transmitting members so as to be relatively movable in the longitudinal direction;
Each of the plurality of sheath members includes the pair of sheath members up to a branch position disposed on the distal end side with respect to the swing axis located on the proximal side of the bending joint member to which the pair of tension transmission members are connected. Bundle the tension transmission members of
A bending mechanism in which the pair of tension transmission members separated from each other on the distal end side with respect to the branch position are connected to different positions of the bending joint member. - 前記シース部材が、1本の前記張力伝達部材を各々収容する一対のシースが半径方向に連結されたペアシースである請求項1に記載の湾曲機構。 2. The bending mechanism according to claim 1, wherein the sheath member is a pair sheath in which a pair of sheaths each accommodating one tension transmission member is coupled in the radial direction.
- 各前記湾曲関節部材の基端側に前記長手軸に交差して配置され、板厚方向に貫通し前記シース部材が挿入される貫通孔を有する複数の平板状のガイド部材を備える請求項1または請求項2に記載の湾曲機構。 2. A plurality of flat plate-shaped guide members that are arranged on the base end side of each of the curved joint members so as to intersect the longitudinal axis and have through holes through which the sheath members are inserted in the thickness direction. The bending mechanism according to claim 2.
- 前記ガイド部材が、前記揺動軸線を含む平面上に配置されている請求項3に記載の湾曲機構。 The bending mechanism according to claim 3, wherein the guide member is disposed on a plane including the swing axis.
- 前記貫通孔が、前記一対の前記張力伝達部材を前記揺動軸線に対して同一方向にほぼ同一距離だけ離れた位置に配置するように設けられている請求項3または請求項4に記載の湾曲機構。 5. The curve according to claim 3, wherein the through hole is provided so as to dispose the pair of tension transmission members at positions that are substantially the same distance apart from each other in the same direction with respect to the swing axis. mechanism.
- 前記ガイド部材が、前記貫通孔よりも半径方向内側に、板厚方向に貫通する開口部を有する請求項3から請求項5のいずれかに記載の湾曲機構。 The bending mechanism according to any one of claims 3 to 5, wherein the guide member has an opening penetrating in a plate thickness direction on an inner side in a radial direction than the through hole.
- 長手軸に沿って先端側から基端側へ向かって直列に配列し、前記長手軸に交差する揺動軸線回りに相互に揺動可能に連結された複数の湾曲関節部材と、
該複数の湾曲関節部材の各々に一対ずつ接続され、前記複数の湾曲関節部材を互いに独立して揺動させるための張力を伝達する複数対の長尺の張力伝達部材と、
各前記湾曲関節部材の基端側に前記長手軸に交差して配置され、板厚方向に貫通し前記張力伝達部材が挿入される貫通孔を有する複数の平板状のガイド部材とを備え、
各前記貫通孔に一対の張力伝達部材が挿入されている湾曲機構。 A plurality of curved joint members arranged in series along the longitudinal axis from the distal end side to the proximal end side and coupled to each other so as to be swingable around a swing axis intersecting the longitudinal axis;
A plurality of pairs of elongated tension transmitting members connected to each of the plurality of curved joint members and transmitting tensions for swinging the plurality of curved joint members independently of each other;
A plurality of flat plate-shaped guide members that are arranged on the proximal end side of each of the bending joint members and that have a through-hole that is inserted in the plate thickness direction and into which the tension transmission member is inserted;
A bending mechanism in which a pair of tension transmission members are inserted into each of the through holes. - 前記ガイド部材が、前記揺動軸線を含む平面上に配置されている請求項7に記載の湾曲機構。 The bending mechanism according to claim 7, wherein the guide member is disposed on a plane including the swing axis.
- 前記貫通孔が、前記一対の前記張力伝達部材を前記揺動軸に対して同一方向にほぼ同一距離だけ離れた位置に配置するように設けられている請求項7または請求項8に記載の湾曲機構。 The curve according to claim 7 or 8, wherein the through-hole is provided so as to dispose the pair of tension transmission members at substantially the same distance in the same direction with respect to the swing shaft. mechanism.
- 請求項1から請求項9のいずれかに記載の湾曲機構と、
該湾曲機構の外周を被覆する可撓性を有する筒状のアウタシースとを備える軟性医療器具。 A bending mechanism according to any one of claims 1 to 9,
A flexible medical instrument comprising a flexible cylindrical outer sheath covering the outer periphery of the bending mechanism.
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CN113558768A (en) * | 2021-06-30 | 2021-10-29 | 极限人工智能有限公司 | Operation mechanical arm and operation device |
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