WO2021172291A1 - Pince de préhension, outil d'alimentation de pince et outil de collecte de pince - Google Patents

Pince de préhension, outil d'alimentation de pince et outil de collecte de pince Download PDF

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Publication number
WO2021172291A1
WO2021172291A1 PCT/JP2021/006682 JP2021006682W WO2021172291A1 WO 2021172291 A1 WO2021172291 A1 WO 2021172291A1 JP 2021006682 W JP2021006682 W JP 2021006682W WO 2021172291 A1 WO2021172291 A1 WO 2021172291A1
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WO
WIPO (PCT)
Prior art keywords
pair
forceps
pieces
gripping
sheath
Prior art date
Application number
PCT/JP2021/006682
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English (en)
Japanese (ja)
Inventor
創紀 滝野
和毅 炭山
俊介 樺
Original Assignee
マルホ発條工業株式会社
学校法人慈恵大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by マルホ発條工業株式会社, 学校法人慈恵大学 filed Critical マルホ発條工業株式会社
Priority to JP2021545696A priority Critical patent/JP7026366B2/ja
Publication of WO2021172291A1 publication Critical patent/WO2021172291A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/122—Clamps or clips, e.g. for the umbilical cord
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips

Definitions

  • the present invention relates to a grasping forceps, a forceps supply tool, and a forceps recovery tool.
  • An indwelling tool provided with a clip having a pair of clip claws and a tube body through which the pair of clip claws are inserted inside, a magnet, and a wire for locking the magnet and the clip, and placed in a body cavity.
  • This indwelling device is used, for example, for removing lesions formed inside luminal organs such as the stomach and intestines.
  • the pair of clip claws are made of one spring material in which the base ends are connected to each other and extend in an X shape from the base end toward the tip end and intersect differently.
  • the tips of the pair of clip claws are open when the tips protrude from the tube body, and when the tube body is moved so as to approach the tip side of the clip claws, the tips approach each other accordingly. do.
  • the indwelling device is fixed to the living tissue in the body cavity, the tube body is clipped with the tips of the pair of clip claws close to the living tissue and the living tissue is placed between the pair of clip claws.
  • the tips of the pair of clip claws are brought closer to each other by moving them toward the tip side of the clip.
  • the indwelling tool is fixed to the living tissue with the pair of clip claws sandwiching the living tissue.
  • the fixing position cannot be changed. For example, if a person performing surgery using an indwelling device fixes the indwelling device in an incorrect position, the fixed position of the indwelling device cannot be changed to the correct position.
  • a plurality of indwelling devices may be fixed along the wound. In this case, for example, if one indwelling tool is fixed and then the indwelling tool falls in the direction along the wound, the portion to which the other indwelling tool should be fixed is blocked by the indwelling tool. Then, there is a risk that a sufficient number of indwelling tools cannot be fixed along the wound.
  • the indwelling tool fixed to the living tissue can be separated from the living tissue and collected, or the collected indwelling tool can be fixed to another place in the living tissue again to change the fixing position of the indwelling tool.
  • Technology is required.
  • the present invention has been made in view of the above reasons, and an object of the present invention is to provide a grasping forceps, a forceps supply tool, and a forceps recovery tool that can be easily attached to and detached from a living tissue.
  • the gripping forceps A grasping forceps that is attached to and detached from living tissue.
  • a pair of long grip pieces and The pair of gripping pieces are connected so that one ends of the pair of gripping pieces are connected to each other in the longitudinal direction and the other ends of the pair of gripping pieces are separated from each other by a preset first distance.
  • the connecting member to be urged and It is tubular and has an outer collar protruding from the outer wall, and is preset to be located on the tip end side of the pair of gripping pieces from the first position where the connecting member is arranged inside to the first position.
  • a ring When moved to the second position, a ring in which the tips of the pair of gripping pieces are separated from each other by a preset second distance shorter than the first distance, and a ring. Magnetic material and A connecting member for connecting the connecting member and the magnetic body is provided.
  • the ring is moved from the first position to the second position in a state where the biological tissue is arranged between the pair of gripping pieces, and the biological tissue is sandwiched between the pair of gripping pieces. Is fixed to. Further, when the gripping forceps are separated from the living tissue, the ring is moved to the second position again to open the pair of gripping pieces by the urging force of the connecting member.
  • the ring has an outer flange portion protruding from the outer wall.
  • the protrusion of the forceps collecting tool having a protrusion can be hooked on the outer flange of the ring to easily move the ring from the second position to the first position, so that the gripping forceps can be easily moved from the living tissue. It can be separated. Therefore, there is an advantage that it can be easily attached to and detached from a living tissue.
  • FIG. 1 It is a perspective view of the grasping forceps which concerns on Embodiment 1 of this invention. It is a side view of the grasping forceps which concerns on Embodiment 1.
  • FIG. It is a top view which shows the state which the ring is arranged in the 1st position about the grasping forceps which concerns on Embodiment 1.
  • FIG. It is a top view which shows the state which the ring is arranged in the 2nd position about the grasping forceps which concerns on Embodiment 1.
  • FIG. It is a top view of the forceps feeder which concerns on Embodiment 1.
  • FIG. It is a side view of a part of the forceps feeder which concerns on Embodiment 1.
  • FIG. It is a top view of a part of the forceps feeder which concerns on Embodiment 1.
  • FIG. It is a figure which shows the state which brings the grasping forceps closer to a living tissue by using the forceps supply tool which concerns on Embodiment 1.
  • FIG. It is a figure which shows the state which brought the grasping piece of the grasping forceps into contact with a living tissue by using the forceps supply tool which concerns on Embodiment 1.
  • FIG. It is a figure which shows the state which fixed the grasping forceps to the living tissue by using the forceps supply tool which concerns on Embodiment 1.
  • FIG. 1 It is a figure which shows the mode that the forceps supply tool which concerns on Embodiment 1 is separated from the grasping forceps fixed to the living tissue. It is a top view of the forceps recovery tool which concerns on Embodiment 1.
  • FIG. It is a perspective view of a part of the forceps recovery tool which concerns on Embodiment 1.
  • FIG. It is a side view of a part of the forceps recovery tool which concerns on Embodiment 1.
  • FIG. It is a top view of a part of the forceps recovery tool which concerns on Embodiment 1.
  • FIG. It is a figure which shows the state which brings the forceps recovery tool which concerns on Embodiment 1 close to the grasping forceps fixed to the living tissue.
  • FIG. 5 is a plan view showing a state in which the second shaft portion of the grasping forceps according to the second embodiment is arranged at the end portion of the elongated hole on the first shaft portion side.
  • FIG. 5 is a plan view showing a state in which the second shaft portion of the grasping forceps according to the second embodiment is arranged at a substantially central portion in the extending direction of the elongated hole.
  • FIG. 5 is a plan view showing a state in which the second shaft portion of the grasping forceps according to the second embodiment is arranged at an end portion of the elongated hole opposite to the first shaft portion side.
  • FIG. It is a figure which shows the state which brings the grasping forceps closer to a living tissue by using the forceps supply tool which concerns on Embodiment 2.
  • FIG. It is a figure which shows the state which brought the grasping piece of the grasping forceps into contact with a living tissue by using the forceps supply tool which concerns on Embodiment 2.
  • FIG. It is a figure which shows the state which fixed the grasping forceps to the living tissue by using the forceps supply tool which concerns on Embodiment 2.
  • FIG. It is a figure which shows the state in which the protrusion of the forceps feeder which concerns on Embodiment 2 is engaged with the forceps body.
  • FIG. 2 It is a figure which shows the state which arranged the magnetic material holding part of the forceps feeder which concerns on Embodiment 2 is arranged outside the sheath. It is a figure which shows the mode that the grasping forceps is detached from the forceps supply tool which concerns on Embodiment 2.
  • FIG. It is sectional drawing of the forceps recovery tool which concerns on Embodiment 2.
  • FIG. It is sectional drawing of the forceps recovery tool which concerns on Embodiment 2.
  • FIG. It is a figure which shows the state which brings the forceps recovery tool which concerns on Embodiment 2 close to the grasping forceps fixed to the living tissue.
  • FIG. 5 is a plan view showing a state in which the second shaft portion of the grasping forceps according to the third embodiment is arranged at the end portion of the elongated hole on the first shaft portion side.
  • FIG. 5 is a plan view showing a state in which the second shaft portion of the grasping forceps according to the third embodiment is arranged at a substantially central portion in the extending direction of the elongated hole.
  • FIG. 5 is a plan view showing a state in which the second shaft portion of the grasping forceps according to the third embodiment is arranged at an end portion of the elongated hole opposite to the first shaft portion side.
  • It is sectional drawing of the forceps feeder which concerns on Embodiment 3.
  • FIG. It is sectional drawing of the forceps feeder which concerns on Embodiment 3.
  • FIG. It is sectional drawing which shows the state which opened the ball clamp of the forceps feeder which concerns on Embodiment 3.
  • FIG. It is a figure which shows the state which brings the grasping forceps closer to a living tissue by using the forceps supply tool which concerns on Embodiment 3.
  • FIG. It is a figure which shows the state which brought the grasping piece of the grasping forceps into contact with a living tissue by using the forceps supply tool which concerns on Embodiment 3.
  • FIG. It is a figure which shows the state which fixed the grasping forceps to the living tissue by using the forceps supply tool which concerns on Embodiment 3.
  • FIG. It is a figure which shows the state which protruded the ball clamp of the forceps feeder which concerns on Embodiment 3 to the outside of an outer sheath.
  • FIG. It is a figure which shows the state which detached the magnetic body of the grasping forceps from the ball clamp of the forceps feeder which concerns on Embodiment 3.
  • FIG. It is sectional drawing of the forceps recovery tool which concerns on Embodiment 3.
  • FIG. It is sectional drawing of the forceps recovery tool which concerns on Embodiment 3.
  • FIG. It is sectional drawing of the forceps recovery tool which concerns on Embodiment 3.
  • FIG. It is a figure which shows the state which brings the forceps recovery tool which concerns on Embodiment 3 close to the grasping forceps fixed to the living tissue. It is a figure which shows the state which the magnet of the forceps recovery tool which concerns on Embodiment 3 was attracted to the magnet of the grasping forceps. It is a figure which shows the state which held the magnetic material by the ball clamp of the forceps recovery tool which concerns on Embodiment 3.
  • FIG. 1 It is a figure which shows the state which accommodated the ball clamp of the forceps recovery tool which concerns on Embodiment 3 inside the outer sheath. It is a figure which shows the state which separated from the living tissue in the state which held the grasping forceps by the forceps collecting tool which concerns on Embodiment 3.
  • FIG. 1 shows the state which accommodated the ball clamp of the forceps recovery tool which concerns on Embodiment 3 inside the outer sheath. It is a figure which shows the state which separated from the living tissue in the state which held the grasping forceps by the forceps collecting tool which concerns on Embodiment 3.
  • the gripping forceps according to the present embodiment are gripping forceps that are attached to and detached from a living tissue.
  • the gripping forceps are a pair of long gripping pieces, a connecting member that connects one ends of each pair of gripping pieces in the longitudinal direction, and a tubular shape that is orthogonal to the tubular axis and away from the tubular axis. It includes a ring having an outer flange portion protruding toward the side, a magnet, and a connecting member for connecting the connecting member and the magnet.
  • the connecting member urges the pair of gripping pieces so that the other ends of the pair of gripping pieces are separated from each other by a preset first distance. Further, when the ring is moved from the first position where the connecting member is arranged inside to a preset second position located on the tip end side of the pair of gripping pieces from the first position, the pair of gripping pieces is moved. A second state is set in which the tip portions of the above are separated from each other by a preset second distance shorter than the first distance.
  • the gripping forceps 1 are gripping forceps that are attached to and detached from a living tissue, and are a pair of long gripping pieces 111 and 112 and a pair of gripping pieces 111 and 112.
  • a connecting member 19 for connecting one ends of each of the pieces 111 and 112 in the longitudinal direction, a cylindrical ring 12, a magnetic body 14, and a connecting member 13 for connecting the connecting member 19 and the magnetic body 14 are provided.
  • the pair of gripping pieces 111 and 112 are elongated plates, respectively, and are arranged so as to face each other in the thickness direction.
  • the pair of gripping pieces 111, 112 each have locking pieces 111a, 112a, which protrude from the other end on the side continuous with the connecting member 19 and opposite to each other in a direction approaching each other and lock the biological tissue.
  • the grip pieces 111 and 112 are made of stainless steel (for example, SUS304), cobalt alloy, engineering plastic (peak material: hard plastic), or the like.
  • the connecting member 19 is continuously integrally formed with the gripping pieces 111 and 112 from a metal coated with silicon, titanium or the like, and has two spring pieces 113 and 114 and a connecting piece 115.
  • the spring piece 113 is a first spring piece that has a long plate shape and is continuous with the gripping piece 111 at one end.
  • the spring piece 113 is formed continuously and integrally with the gripping piece 111, and the width of the spring piece 113 in the lateral direction orthogonal to the thickness direction of the spring piece 113 is in the lateral direction orthogonal to the thickness direction of the gripping piece 111. It is set shorter than the width.
  • the spring piece 114 is a second spring piece that has a long plate shape and is continuous with the gripping piece 112 at one end.
  • the spring piece 114 is formed continuously and integrally with the grip piece 112, and the width of the spring piece 114 in the lateral direction orthogonal to the thickness direction of the spring piece 114 is the width of the spring piece 114 in the lateral direction orthogonal to the thickness direction of the grip piece 112. It is set shorter than the width. Further, the spring piece 114 intersects the spring piece 113 when viewed from the lateral direction of the spring piece 113 orthogonal to the thickness direction of the spring piece 113, that is, the Z-axis direction. Here, the spring piece 113 is arranged on the ⁇ Z direction side with respect to the spring piece 114.
  • connection piece 115 is formed continuously and integrally with the spring pieces 113 and 114, and connects the other end of the spring piece 113 and the other end of the spring piece 114.
  • the connecting member 19 is a pair of gripping pieces so that the other ends of the pair of gripping pieces 111 and 112 are separated from each other by a preset first distance L1.
  • the ring 12 has, for example, a cylindrical ring main body 121 made of resin and an annular outer flange portion 122 protruding from the outer wall of the ring main body 121.
  • the ring 12 is located closer to the tip of the pair of gripping pieces 111 and 112 than the first position Pos 1 shown in FIG. 2B from the first position Pos 1 in which the connecting member 19 is arranged inside as shown in FIG. 2A.
  • the tips of the pair of gripping pieces 111 and 112 are separated from each other by the preset second distance L2, which is shorter than the first distance L1.
  • the second distance L2 can be set to a distance at which the tips of the locking pieces 111a and 112a come into contact with each other, for example, as shown in FIG. 2B.
  • the magnetic body 14 is a spherical magnetic body, and is provided with a through hole 14a having a circular cross section passing through the center thereof.
  • the connecting member 13 is formed of stainless steel (for example, SUS304), cobalt alloy, engineering plastic (peak material: hard plastic), etc., protrudes from the main body 131, and is fitted into the through hole 14a of the magnetic body 14. It has a protrusion 132 and.
  • the main body 131 is formed with a notch 131a in which the connecting piece 115 of the connecting member 19 is fitted.
  • the protruding portion 132 has an uneven portion formed on the peripheral portion. Then, when the protruding portion 132 is fitted into the through hole 14a of the magnetic body 14, the uneven portion thereof is locked to the inner wall of the through hole 14a of the magnetic body 14, and the magnetic body 14 is fixed to the protruding portion 132.
  • the forceps feeder 2 of the present embodiment includes a ball clamp 28 for sandwiching the magnetic body 14 of the gripping forceps 1, a support wire 22, an inner sheath 24, an outer sheath 27, and a flexible tube 26. , And an operation unit 29.
  • the ball clamp 28 is formed of, for example, resin, and as shown in FIG. 3B, the pair of holding pieces 282 for holding the magnetic body 14 of the gripping forceps 1 and the support piece 281 for supporting one end of each of the pair of holding pieces 282. It is a magnetic material holding part having.
  • the support piece 281 urges the pair of holding pieces 282 so that the magnetic body 14 can be detached from the pair of holding pieces 282. Further, the pair of holding pieces 282 are provided with an arc-shaped notch 282a at the end edges on the sides facing each other. As a result, the magnetic body 14 can be firmly clamped by the ball clamp 28, so that the gripping forceps 1 may suddenly fall off from the forceps feeder 2 before fixing the gripping forceps 1 to the biological tissue Bi. Be prevented.
  • the support wire 22 is formed of resin, for example, continuously integrally with the ball clamp 28, and supports the ball clamp 28 fixed to the tip portion as shown in FIGS. 4A and 4B.
  • the inner sheath 24 has a long cylindrical shape, and a ball clamp 28 and a support wire 22 are inserted inside the inner sheath 24.
  • the inner sheath 24 is made of stainless steel (for example, SUS304), cobalt alloy, engineering plastic (peak material: hard plastic), or the like.
  • the inner sheath 24 is set to a size capable of accommodating the connecting member 19, the magnetic body 14, the connecting member 13, and the ball clamp 28 of the gripping forceps 1 in a state where the ball clamp 28 sandwiches the magnetic body 14 of the gripping forceps 1. There is.
  • the area of the cross section orthogonal to the tubular axis direction inside the inner sheath 24 is smaller than the area of the contour of the cross section orthogonal to the tubular axis direction of the outer flange portion 122 of the ring 12 of the gripping forceps 1. That is, the inner diameter D21 of the inner sheath 24 is smaller than the outer diameter D1 of the outer flange portion 122 of the ring 12 of the gripping forceps 1. As a result, the entry of the ring 12 of the grasping forceps 1 into the inner sheath 24 is restricted.
  • the outer sheath 27 has a long cylindrical shape, and the inner sheath 24 is inserted inside.
  • the outer sheath 27 is formed of a metal coated with silicon, titanium, or the like.
  • the area of the cross section orthogonal to the tubular axis direction inside the outer sheath 27 is larger than the area of the contour of the cross section orthogonal to the tubular axis direction of the outer flange portion 122 of the ring 12 of the gripping forceps 1. That is, the inner diameter D22 of the outer sheath 27 is larger than the outer diameter D1 of the outer flange portion 122 of the ring 12 of the gripping forceps 1.
  • the flexible tube 26 is a long tube body interposed between the outer sheath 27 and the operation unit 29.
  • the flexible tube 26 is a flexible long coil spring made of stainless steel (for example, SUS304), a cobalt alloy, engineering plastic (peak material: hard plastic), or the like.
  • a support wire 22 and an inner sheath 24 are arranged as shown in FIGS. 4A and 4B.
  • the flexible tube 26 is not limited to the coil spring, and may be a long tube formed of another elastic material.
  • the operation unit 29 is for moving the inner sheath 24 and the support wire 22 separately with respect to the outer sheath 27.
  • the operation unit 29 has a unit main body 21, two operation units 23, and an operation unit 25.
  • the unit main body 21 is long and has an operation portion support portion 211 that slidably supports the operation portions 23 and 25, respectively, and an annular handle 212 provided at one end of the operation portion support portion 211 in the longitudinal direction. And have.
  • the unit main body 21 has an extending portion 213 extending from the other end of the operating portion supporting portion 211 in the longitudinal direction along the longitudinal direction of the operating portion supporting portion 211.
  • the end of the flexible tube 26 on the side opposite to the outer sheath 27 side is fixed to the tip of the extending portion 213.
  • the extension portion 213 is formed with a guide 213a that guides the inner sheath 24 and the support wire 22 along the extension direction of the extension portion 213.
  • the operation unit 23 has an operation unit main body 231 and two annular handles 232 provided on the operation unit main body 231 and a fixing portion 233 for fixing the end of the support wire 22 to the operation unit main body 231.
  • the operation unit 25 has an operation unit main body 251 and two annular handles 252 provided on the operation unit main body 251.
  • the end of the inner sheath 24 on the side opposite to the side on which the ball clamp 28 is arranged is fixed to the operation unit main body 251.
  • the operating portion 25 is slid along the longitudinal direction of the operating portion supporting portion 211, the inner sheath 24 moves relative to the outer sheath 27 and the flexible tube 26.
  • the gripping forceps 1 is placed inside the outer sheath 27 of the forceps feeder 2 in a state where the ring 12 is arranged at the above-mentioned first position Pos1 and the magnetic body 14 is sandwiched by the ball clamp 28. Deploy. At this time, the gripping pieces 111 and 112 of the gripping forceps 1 are housed inside the outer sheath 27 in a state where their ends on the + Y direction side are in contact with the inner wall of the outer sheath 27. In this state, as shown by the arrow AR1, the outer sheath 27 is brought closer to the biological tissue Bi in the body cavity.
  • the tip of the inner sheath 24 is projected to the outside of the outer sheath 27, that is, to the + Y direction side.
  • the tip end portion of the inner sheath 24 can be projected to the outside of the outer sheath 27.
  • the pair of gripping pieces 111 and 112 of the gripping forceps 1 are arranged outside the outer sheath 27.
  • the other ends of the pair of gripping pieces 111 and 112 are separated from each other by a preset first distance L1. Then, in this state, the outer sheath 27 is further brought closer to the living tissue Bi, and the locking pieces 111a, 112a of the pair of gripping pieces 111, 112 are brought into contact with the living tissue Bi, whereby the locking pieces 111a, 112a are brought into the living body. Lock to tissue Bi. At this time, the biological tissue Bi is arranged between the pair of gripping pieces 111 and 112.
  • the ball clamp 28 is moved to the side opposite to the tip end side of the inner sheath 24, that is, to the ⁇ Y direction side.
  • the ball clamp 28 can be moved in the ⁇ Y direction by sliding the operation unit 23 shown in FIG. 3A to the side opposite to the outer sheath 27 side.
  • the ring 12 of the gripping forceps 1 moves from the first position Pos1 to the second position Pos2.
  • the other ends of the pair of gripping pieces 111 and 112 are in a second state separated by a second distance L2 shorter than the first distance L1, and the pair of gripping pieces 111 and 112 grip the biological tissue Bi. It becomes.
  • the ball clamp 28 is moved to the tip side of the inner sheath 24, that is, in the + Y direction, and a pair of ball clamps 28 are moved.
  • the clamp piece 282 of the above is projected to the outside of the inner sheath 24.
  • the outer sheath 27 and the inner sheath 24 are moved in the direction of detaching from the ring 12 of the gripping forceps 1.
  • the ball clamp 28 can be moved in the + Y direction by sliding the operation unit 23 shown in FIG. 3A toward the outer sheath 27 side. At this time, as shown in FIG.
  • the urging force of the support piece 281 of the ball clamp 28 opens the pair of holding pieces 282, and the magnetic body 14 of the gripping forceps 1 separates from the pair of holding pieces 282.
  • the grasping forceps 1 can be fixed to the biological tissue Bi in the body cavity by performing a series of operations using the forceps feeder 2.
  • the forceps recovery tool 3 of the present embodiment includes a magnet 38 that attracts and holds the magnetic body 14 of the gripping forceps 1, a support wire 32, an inner sheath 34, an outer sheath 37, and a flexible tube 36. , And an operation unit 39.
  • the magnet 38 is, for example, a columnar permanent magnet.
  • the support wire 32 has a magnet 38 fixed to the tip thereof.
  • the inner sheath 34 has a long cylindrical shape, and a magnet 38 and a support wire 32 are inserted inside the inner sheath 34.
  • the inner sheath 34 is made of stainless steel (for example, SUS304), cobalt alloy, engineering plastic (peak material: hard plastic), or the like.
  • the inner sheath 34 is set to a size capable of accommodating the connecting member 19, the magnetic body 14, the magnet 38, and the connecting member 13 of the gripping forceps 1 in a state where the magnetic body 14 of the gripping forceps 1 is attracted to the magnet 38.
  • the outer sheath 37 has a long cylindrical shape, a sheath body 371 through which the inner sheath 34 is inserted, and an extension portion 372 extending from the tip end portion of the sheath body 371, that is, the end portion on the + Y direction side.
  • the outer sheath 37 is made of stainless steel (for example, SUS304), a cobalt alloy, engineering plastic (peak material: hard plastic), or the like.
  • the extending portion 372 has a protrusion 372a on which the outer flange portion 122 of the ring 12 of the gripping forceps 1 is hooked at the end portion on the side opposite to the sheath body 371 side, that is, the end portion on the + Y direction side.
  • the extending portion 372 has a semi-cylindrical shape, and the protrusion 372a projects from the end portion of the extending portion 372 on the + Y direction side toward the tubular axis of the extending portion 372. Further, on the ⁇ Y direction side of the protrusion 372a, a first inclined portion 372b is formed which is inclined so that the amount of protrusion toward the ⁇ Y direction increases as the extension portion 372 approaches the tubular axis. As a result, even when the tip of the outer sheath 37 is inserted from the direction intersecting the tubular axis of the ring 12 of the gripping forceps 1, the outer flange portion 122 of the ring 12 can be smoothly hooked on the protrusion 372a.
  • a second inclined portion 372c is provided which is inclined so as to be closer to the tubular axis of the extending portion 372 toward the sheath main body 371 side.
  • the flexible tube 36 is a long tube body interposed between the outer sheath 37 and the operation unit 39. Inside the flexible tube 36, a support wire 32 and an inner sheath 34 are arranged as shown in FIGS. 8A and 8B.
  • the flexible tube 36 is a long coil spring having flexibility. As described above, since the forceps supply tool 2 is provided with the flexible tube 26, the forceps supply tool 2 can be smoothly introduced into the body cavity, so that the operability of the forceps supply tool 2 can be improved.
  • the operation unit 39 is for moving the inner sheath 34 and the support wire 32 separately with respect to the outer sheath 37.
  • the operation unit 39 includes a unit main body 31, two operation units 33, and an operation unit 35.
  • the unit main body 31 is long and has an operating portion support portion 311 that slidably supports the operating portions 33 and 35, respectively, and an annular handle 312 provided at one end of the operating portion support portion 311 in the longitudinal direction. And have.
  • the unit main body 31 has an extending portion 313 extending from the other end of the operating portion supporting portion 311 in the longitudinal direction along the longitudinal direction of the operating portion supporting portion 311.
  • An end portion of the flexible tube 36 opposite to the outer sheath 37 side is fixed to the tip end portion of the extending portion 313.
  • the extension portion 313 is formed with a guide 313a that guides the inner sheath 34 and the support wire 32 along the extension direction of the extension portion 313.
  • the operation unit 33 has an operation unit main body 331, two annular handles 332 provided on the operation unit main body 331, and an end portion of the support wire 32 opposite to the side to which the magnet 38 is fixed. It has a fixing portion 333 and a fixing portion 333 to be fixed to the.
  • the operation unit 35 has an operation unit main body 351 and two annular handles 352 provided on the operation unit main body 351.
  • An end portion of the inner sheath 34 arranged on the side opposite to the extending portion 372 side of the outer sheath 37 is fixed to the operation unit main body 351.
  • the inner sheath 34 moves relative to the outer sheath 37 and the flexible tube 36.
  • FIG. 9A With the magnet 38 fixed to the tip of the support wire 32 protruding to the outside of the outer sheath 37, the magnet 38 is gripped fixed to the biological tissue Bi as shown by arrow AR2. Bring it closer to the magnetic body 14 of the forceps 1. Then, as shown in FIG. 9B, the magnetic body 14 of the gripping forceps 1 is attracted to the magnet 38 of the forceps recovery tool 3.
  • the support wire 32 of the forceps recovery tool 3 is moved toward the ⁇ Y direction, so that the gripping forceps 1
  • the outer flange portion 122 of the ring 12 is arranged in the vicinity of the protrusion 372a of the outer sheath 37.
  • the magnet 38 can be moved in the ⁇ Y direction by sliding the operation unit 33 shown in FIG. 7A to the side opposite to the outer sheath 37 side.
  • the outer flange portion 122 of the ring 12 of the gripping forceps 1 is hooked on the -Y direction side of the protrusion 372a of the forceps recovery tool 3.
  • the tip of the inner sheath 34 is brought into contact with the outer flange portion 122 of the ring 12 of the gripping forceps 1.
  • the tip end portion of the inner sheath 24 can be brought closer to the protrusion 372a of the outer sheath 37.
  • the outer flange portion 122 of the gripping forceps 1 is sandwiched between the protrusion 372a of the outer sheath 37 and the tip end portion of the inner sheath 34.
  • the magnet 38 is moved in the direction approaching the ring 12 of the gripping forceps 1, that is, in the + Y direction.
  • the magnet 38 can be moved in the + Y direction by sliding the operation unit 33 shown in FIG. 7A toward the outer sheath 37 side.
  • the ring 12 of the gripping forceps 1 located at the second position Pos 2 as shown in FIG. 10A moves to the first position Pos 1 as shown in FIG. 10B.
  • the pair of gripping pieces 111 and 112 are in the above-mentioned first state, and the locking pieces 111a and 112a of the pair of gripping pieces 111 and 112 are released from the biological tissue Bi. break away. Then, the gripping forceps 1 is taken out of the body cavity while the outer flange portion 122 of the gripping forceps 1 is sandwiched between the protrusion 372a of the outer sheath 37 and the tip end portion of the inner sheath 34. As described above, the gripping forceps 1 fixed to the biological tissue Bi can be recovered by performing a series of operations using the forceps recovery tool 3.
  • the ring 12 is moved from the first position Pos1 to the second position Pos2 in a state where the biological tissue Bi is arranged between the pair of gripping pieces 111 and 112.
  • the living tissue Bi is fixed to the living tissue Bi by being sandwiched between the pair of gripping pieces 111 and 112.
  • the ring 12 has an outer collar portion 122 protruding from the outer wall thereof.
  • the protrusion 372a of the forceps collecting tool 3 having the protrusion 372a can be hooked on the outer flange portion 122 of the ring 12 to easily move the ring 12 from the second position Pos2 to the first position Pos1.
  • the grasping forceps 1 can be easily detached from the living tissue Bi. Therefore, there is an advantage that it can be easily attached to and detached from the living tissue Bi.
  • each of the pair of gripping pieces 111 and 112 of the present embodiment has a locking piece that locks the biological tissue Bi.
  • the biological tissue Bi can be firmly gripped.
  • the connecting member 19 according to the present embodiment is a spring piece 114 that is orthogonal to the spring piece 113 in the thickness direction of the spring piece 113 and intersects the spring piece 113 when viewed from the lateral direction of the spring piece 113. And have. As a result, it is possible to realize a connecting member 19 capable of maintaining an urging force with an appropriate size with a relatively simple structure.
  • the magnetic body 14 is spherical, has a through hole 14a passing through the center, and the connecting member 13 has a notch 131a into which the connecting piece 115 of the connecting member 19 is fitted. It has a protruding portion 132 that is fitted into the through hole 14a of the magnetic body 14. Thereby, the structure of the connecting member 13 can be simplified.
  • the forceps feeder 2 includes an operation unit 29 for separately moving the inner sheath 24 and the support wire 22 relative to the outer sheath 27. Then, the pair of gripping pieces 111 and 112 of the gripping forceps are arranged outside the outer sheath 27, the biological tissue Bi is arranged between the pair of gripping pieces 111 and 112, and the ball clamp 28 is arranged inside the inner sheath 24. In this state, when the ball clamp 28 moves in the ⁇ Y direction, the ring 12 of the gripping forceps 1 moves from the first position Pos1 to the second position Pos2, and the pair of gripping pieces 111 and 112 grip the living tissue Bi.
  • the pair of holding pieces 282 of the ball clamp 28 are projected to the outside of the inner sheath 24 while the tip of the inner sheath 24 is projected to the outside of the outer sheath 27, the pair of holding pieces 282 are opened and gripped.
  • the forceps 1 are separated from the pair of clamp pieces 282.
  • the gripping forceps 1 can be fixed to the living tissue Bi simply by moving the inner sheath 24 or the support wire 22 with respect to the outer sheath 27. Can be done. Therefore, there is an advantage that the work load when fixing the gripping forceps 1 of the user to the living tissue Bi is reduced.
  • the forceps recovery tool 3 includes an operation unit 39 for moving the inner sheath 34 and the support wire 32 separately with respect to the outer sheath 37. Then, the magnetic body 14 of the gripping forceps 1 is attracted to the magnet 38 fixed to the end of the support wire 32 on the + Y direction side, and the protrusion 372a of the outer sheath 37 and the tip of the inner sheath 34 are attached to the outer flange portion 122 of the ring 12. The ring 12 moves from the second position Pos2 to the first position Pos1 by bringing the magnet 38 closer to the ring 12, and the pair of gripping pieces 111 and 112 are in the above-mentioned second state and gripped. The forceps 1 are detached from the living tissue Bi.
  • the gripping forceps 1 fixed to the living tissue Bi can be obtained by simply moving the inner sheath 34 or the support wire 32 with respect to the outer sheath 37. It can be detached from the biological tissue Bi. Therefore, there is an advantage that the work load when the gripping forceps 1 fixed to the user's biological tissue Bi is separated from the biological tissue Bi and collected is reduced.
  • the gripping forceps include a pair of gripping pieces and a pair of support pieces that are continuously arranged on one of the pair of gripping pieces at one end in the longitudinal direction and overlapped with each other in the thickness direction.
  • a first shaft portion that rotatably supports the other end of each of the support pieces, a forceps main body, a magnetic body, and a connecting member that connects the first shaft portion and the magnetic body are provided.
  • the pair of support pieces has an elongated plate shape, and has elongated holes penetrating in the thickness direction and extending along the longitudinal direction.
  • the forceps body is tubular and has a pair of support pieces and a first shaft portion arranged inside, and faces the pair of support pieces in the lateral direction orthogonal to the thickness direction of each of the pair of support pieces on the side wall. A slit extending along the tubular axis direction is formed in the portion. Further, the forceps body has a second shaft portion that is inserted into the elongated holes of each of the pair of support pieces and fixed to the side wall on the inside. When the second shaft portion is arranged at the end portion of the elongated hole on the first shaft portion side, the pair of gripping pieces have ends on the opposite side to the side continuous with the pair of support pieces of each of the pair of gripping pieces.
  • the gripping forceps 2001 include a pair of gripping pieces 2111, 2112, a pair of arm pieces 2113, 2114, a tubular forceps body 2012, and a magnetic material.
  • a columnar first shaft portion 2015, a connecting member 2013 pivotally supported by the first shaft portion 2015, and an urging member 2017 are provided.
  • the pair of gripping pieces 2111 and 2112 are plate-shaped, respectively, and are arranged so as to face each other in the thickness direction.
  • the pair of gripping pieces 2111 and 2112 each have protruding portions 2111a and 2112a that project from the other end of the arm pieces 2113 and 2114 on the side opposite to the side continuous with the arm piece 2113 and 2114 in a direction approaching each other and lock the biological tissue.
  • the grip pieces 2111 and 2112 are made of stainless steel (for example, SUS304), cobalt alloy, engineering plastic (peak material: hard plastic), or the like.
  • the pair of arm pieces 2113 and 2114 are continuously integrally formed with the gripping pieces 2111 and 2112 from stainless steel (for example, SUS304), cobalt alloy, engineering plastic (peak material: hard plastic), etc., respectively.
  • the arm pieces 2113 and 2114 are continuous with the gripping pieces 2111 and 2112 at the ends on the + Y direction side, and are arranged so as to overlap each other in the thickness direction, that is, in the Z-axis direction.
  • the arm pieces 2113 and 2114 have a long plate shape, and elongated holes 2113a and 2114a penetrating in the thickness direction and extending along the Y-axis direction are bored.
  • the elongated holes 2113a and 2114a communicate with the first sub elongated holes 21131a and 21141a extending in parallel with the Y-axis direction and the first sub elongated holes 21131a and 21141a at the ends on the + Y direction side, respectively, and intersect the Y axis. It is composed of second sub-long holes 21132a and 21142a extending in the direction.
  • the arm pieces 2113 and 2114 are overlapped so that the second sub-long hole 21132a extends in the direction inclined toward the + X direction and the second sub-long hole 21142a extends in the direction inclined toward the ⁇ X direction. Is arranged.
  • through holes 2113b and 2114b having a circular shape in a plan view are provided at the ends of the arm pieces 2113 and 2114 on the ⁇ Y direction side, respectively.
  • the ends of the arm pieces 2113 and 2114 on the ⁇ Y direction side are rotatably and pivotally supported by the first shaft portion 2015 inserted through the through holes 2113b and 2114b.
  • the forceps body 2012 has a tubular shape, and a pair of arm pieces 2113, 2114 and a first shaft portion 2015 are arranged inside.
  • the forceps body 2012 has a cylindrical first tubular portion 2121 and a second cylindrical portion having an outer diameter longer than the outer diameter of the first tubular portion 2121 and having an opening 2122c penetrating the bottom wall. It has a tubular portion 2122 and.
  • a slit 2121a extending in the tubular axis direction of the first tubular portion 2121, that is, along the Y-axis direction is provided. It is formed.
  • a notch portion 2122b is formed extending from the outer peripheral portion of the opening 2122c in the bottom wall to the side wall.
  • the notch 2122b is composed of a circular opening 21221b in a plan view and a slit 21222b communicating with the opening 21221b.
  • the outer peripheral portion 2122a of the opening 2122c in the bottom wall of the first tubular portion 2121 can lock the protrusion 2132a of the connecting member 2013 described later when the pair of gripping pieces 2111 and 2112 are in the second state described later. Functions as a locking part.
  • the forceps body 2012 is inserted into the elongated holes 2113a and 2114a of the pair of arm pieces 2113 and 2114 on the inside, and is fixed to the side wall of the end portion of the first tubular portion 2121 on the + Y direction side. Has.
  • the second shaft portion 2123 of the forceps main body 2012 is the end portion of the arm pieces 2113 and 2114 on the first shaft portion 2015 side in the elongated holes 2113a and 2114a, that is, the second sub elongated hole 21132a. , 21142b, and are arranged at the end opposite to the side communicating with the first sub-long holes 21131a and 21141a.
  • the ends of the pair of gripping pieces 2111 and 2112 on the side opposite to the side continuous with the arm pieces 2113 and 2114 are in the first state separated by a preset first distance L21.
  • the second shaft portion 2123 of the forceps main body 2012 is the end portion of the elongated holes 2113a and 2114a of the arm pieces 2113 and 2114 on the side opposite to the first shaft portion 2015 side, that is, the first. It is assumed that the sub-long holes 21131a and 21141a are arranged at the ends opposite to the side communicating with the second sub-long holes 21132b and 21142a. In this case, the ends of the pair of gripping pieces 2111 and 2112 on the side opposite to the side continuous with the arm pieces 2113 and 2114, respectively, maintain the second state separated by the second distance L22.
  • the magnetic body 14 is a spherical magnetic body, and a through hole 14a having a circular cross section passing through the center thereof is provided.
  • the connecting member 2013 is made of stainless steel (for example, SUS304), cobalt alloy, engineering plastic (peak material: hard plastic), or the like.
  • the connecting member 2013 has a support piece 2131 which is plate-shaped and pivotally supported by the first shaft portion 2015, two leg pieces 2132, and a fixing piece 2133 to which the magnetic body 14 is fixed.
  • the support piece 2131 is provided with a circular through hole 2131a in a plan view that penetrates in the thickness direction thereof, and is pivotally supported by a first shaft portion 2015 inserted through the through hole 2131a.
  • Each of the two leg pieces 2132 is long, with one end in the longitudinal direction continuous with the support piece 2131 and the other end in the longitudinal direction continuous with the fixed piece 2133.
  • the two leg pieces 2132 are flexible and can be elastically deformed in a direction approaching each other.
  • each of the two leg pieces 2132 has a protrusion 2132a, which is a first protrusion that protrudes in a direction away from each other along the lateral direction.
  • the urging member 2017 is arranged inside the forceps main body 2012, and urges the first shaft portion 2015 in a direction approaching the second shaft portion 2123 of the forceps main body 2012.
  • the urging member 2017 has a plate-shaped support piece 2171 that is pivotally supported by the first shaft portion 2015, and a spring piece 2172.
  • the support piece 2171 is provided with a circular through hole 2171a in a plan view penetrating in the thickness direction thereof, and is pivotally supported by a first shaft portion 2015 inserted through the through hole 2171a.
  • the urging member 2017 is arranged on the ⁇ Z direction side of the arm piece 2113 and on the + Z direction side of the arm piece 2114, respectively.
  • the forceps feeder 2002 of the present embodiment includes a ball clamp 2028 that sandwiches the magnetic body 14 of the gripping forceps 2001, a support wire 2022 that is continuously and integrally formed with the ball clamp 2028, and a sheath 2024. And. Further, the forceps feeder 2002 includes an operation unit (not shown) for moving the support wire 2022 relative to the sheath 2024.
  • the ball clamp 2028 is formed of, for example, SUS301-CSP or other elastic material, and as shown in FIGS.
  • the support piece 2281 urges the pair of holding pieces 2282 so that the magnetic body 14 can be detached from the pair of holding pieces 2282 in an open state.
  • the pair of holding pieces 2282 are provided with an arc-shaped notch 2282a at the end edges on the sides facing each other.
  • the support wire 2022 is formed continuously and integrally with the ball clamp 2028 from, for example, a single wire of SUS304 or a wire rope which is a stranded wire thereof.
  • the sheath 2024 has a long cylindrical shape, and a ball clamp 2028 and a support wire 2022 are inserted inside.
  • the sheath 2024 is made of stainless steel (for example, SUS304), a cobalt alloy, engineering plastic (peak material: hard plastic), or the like.
  • the sheath 2024 is set to a size capable of accommodating a part of the gripping forceps 2001 and the ball clamp 2028 in a state where the ball clamp 2028 sandwiches the magnetic body 14 of the gripping forceps 2001.
  • the outer diameter of the sheath 2024 is smaller than the outer diameter of the second tubular portion 2122 of the forceps body of the gripping forceps 2001. As a result, the entry of the grasping forceps 2001 into the sheath 2024 of the forceps body 2012 is restricted.
  • the tip end portion of the sheath 2024 is provided with an extension portion 2242 extending from the tip end portion of the sheath 2024.
  • the extension portion 2242 is an engaging portion that engages with the notch portion 2122b of the forceps main body 2012, and is a long length connected to the first portion 22421 in a circular view, the first portion 22421, and the tip portion of the sheath 2024. It has a second part of 22422 and.
  • a circular opening 2242a in a plan view is provided in the central portion of the first portion 22421.
  • the extending portion 2242 is provided with a slit 2242b that communicates with the opening 2242a and extends to the tip end portion of the sheath 2024.
  • the extension portion 2242 since the extension portion 2242 is provided with the opening portion 2242a and the slit 2242b, the extension portion 2242 can be deformed so as to contract in the width direction thereof.
  • the protrusion 2132a of the connecting member 2013 of the gripping forceps 2001 is arranged inside the forceps body 2012, and the magnetic body 14 is sandwiched by the ball clamp 2028, and the extension portion 2242 of the sheath 2024 is held. Is engaged with the notch 2122b of the grasping forceps 2001.
  • the end portion of the forceps body 2012 of the grasping forceps 2001 on the ⁇ Y direction side is arranged at the tip end portion of the sheath 2020 in a state of being in contact with the tip end portion of the sheath 2020.
  • the tip of the sheath 2024 is brought close to the biological tissue Bi in the body cavity.
  • the ball clamp 2028 holding the magnetic body 14 is projected toward the tip of the sheath 2024, that is, toward the + Y direction. ..
  • the second shaft portion 2123 of the grasping forceps 2001 moves to the end portion of the elongated holes 2113a and 2114a on the first shaft portion 2015 side.
  • the ends of the pair of gripping forceps 2001 on the side continuous with the arm pieces 2113 and 2114 of the gripping pieces 2111 and 2112 and the ends on the opposite side are separated by the first distance L21 in the first state.
  • the tip of the sheath 2024 is brought closer to the living tissue Bi, and the protruding portions 2111a and 2112a of the pair of gripping pieces 2111 and 2112 are brought into contact with the living tissue Bi, so that the protruding portions 2111a and 2112a are brought into contact with the living tissue Bi. Lock to Bi.
  • the biological tissue Bi is arranged between the pair of gripping pieces 2111 and 2112.
  • the ball clamp 2028 is moved to the side opposite to the tip end side of the sheath 2024, that is, to the ⁇ Y direction side.
  • the second shaft portion 2123 of the grasping forceps 2001 moves toward the end portion of the elongated holes 2113a and 2114a on the side opposite to the first shaft portion 2015 side.
  • the other ends of the pair of gripping pieces 2111 and 2112 are in a second state separated by a second distance L22, and the pair of gripping pieces 2111 and 2112 are in a state of gripping the biological tissue Bi.
  • the ball clamp 2028 is further moved toward the ⁇ Y direction.
  • the two leg pieces 2132 of the connecting member 2013 of the gripping forceps 2001 are elastically deformed in the direction of approaching each other, and the protrusions 2132a move over the outer peripheral portion 2122a of the bottom wall of the forceps body 2012 to the outside of the forceps body 2012. ..
  • the spring piece 2172 of the urging member 2017 comes into contact with the inside of the bottom wall of the forceps main body 2012, and the first shaft portion 2015 is urged in the direction approaching the second shaft portion 2123.
  • the protrusions 2132a of the connecting member 2013 are locked to the outer peripheral portion 2122a of the bottom wall of the forceps body by the urging force of the urging member 2017, respectively.
  • the ball clamp 2028 is projected to the outside of the sheath 2024 by moving the support wire 2022 relative to the sheath 2024 in the + Y direction.
  • the pair of holding pieces 2282 are opened by the urging force of the support piece 2281 of the ball clamp 2028.
  • the magnetic body 14 of the gripping forceps 2001 is separated from the pair of holding pieces 2282 of the ball clamp 2028.
  • the grasping forceps 2001 can be fixed to the biological tissue Bi in the body cavity by performing a series of operations using the forceps feeder 2002.
  • the forceps recovery tool 2003 of the present embodiment includes a magnet 2038 that attracts and holds the magnetic body 14 of the gripping forceps 2001, a support wire 2032, and a sheath 2034. Further, the forceps recovery tool 2003 includes an operation unit (not shown) for moving the support wire 2032 relative to the sheath 2034.
  • the magnet 2038 is, for example, a columnar permanent magnet. A magnet 38 is fixed to the tip of the support wire 2032.
  • the sheath 2034 has a long cylindrical shape, and a magnet 2038 and a support wire 2032 are inserted inside the sheath 2034. At least the tip of the sheath 2034 is made of a stretchable material. The tip of the sheath 2034 is urged so that the area of the cross section orthogonal to the tubular axis direction is reduced, that is, the tip is reduced in diameter. Further, as shown in FIG. 16B, when the tip of the support wire 2032 protrudes from the tip of the sheath 2034, the tip of the sheath 2034 expands and comes into contact with the side of the support wire 2032.
  • the sheath 2034 is set to a size capable of accommodating a part of the connecting member 2013 of the gripping forceps 2001, the magnetic body 14 and the magnet 2038 in a state where the magnetic body 14 of the gripping forceps 2001 is attracted to the magnet 2038.
  • FIG. 17A With the magnet 2038 fixed to the tip of the support wire 2032 protruding to the outside of the sheath 2034, the magnet 2038 is gripped fixed to the biological tissue Bi as shown by arrow AR22. Bring it closer to the magnetic body 14 of the forceps 2001. Then, as shown in FIG. 17B, the magnetic body 14 of the gripping forceps 2001 is attracted to the magnet 2038 of the forceps recovery tool 2003.
  • the sheath 2034 of the forceps recovery tool 2003 is moved in the + Y direction with respect to the support wire 2032 in a state where the magnetic body 14 of the gripping forceps 2001 is attracted to the magnet 2038.
  • the tip of the sheath 2034 is brought close to the protrusion 2132a of the connecting member 2013.
  • the tip end portion of the sheath 2034 is made to ride on the top portion of the connecting member 2013.
  • the two leg pieces 2132 of the connecting member 2013 bend in a direction approaching each other.
  • the protrusion 2132a of the connecting member 2013 moves inside the forceps main body 2012.
  • the connecting member 13 returns to the original state due to the restoring force, and as shown in FIG. 18B, the protrusion 2132a is the forceps main body. It is in a state of being engaged with the outer peripheral portion 2122a of 2012.
  • the second shaft portion 2123 of the gripping forceps 2001 moves in the elongated holes 2113a and 2114a of the arm pieces 2113 and 2114 toward the first shaft portion 2015 side.
  • the gripping forceps 2001 is taken out of the body cavity.
  • the gripping forceps 2001 fixed to the biological tissue Bi can be recovered.
  • the second shaft portion 2123 of the forceps main body 2012 has the arm pieces 2113, with the biological tissue Bi arranged between the pair of gripping pieces 2111 and 2112.
  • the biological tissue Bi is sandwiched between the pair of gripping pieces 2111 and 2112, and the gripping forceps 2001 are attached to the biological tissue Bi. It is fixed.
  • the magnetic body 14 is moved in a direction approaching the forceps body 2012, and the second shaft portion 2123 of the forceps body 2012 has the elongated holes 2113a and 2114a of the arm pieces 2113 and 2114.
  • the grasping forceps 2001 can be detached from the biological tissue Bi only by arranging the gripping forceps 2001 at the end of the first shaft portion 2015 side.
  • the gripping forceps 2001 can be easily detached from the living tissue Bi simply by pushing the magnetic body 14 in the direction approaching the forceps body 2012, so that the gripping forceps 2001 can be easily attached to and detached from the living tissue Bi. There is an advantage.
  • the connecting member 2013 is long and has two legs having flexibility such that one end in the longitudinal direction is continuous with the support piece 2131 and the other end in the longitudinal direction is continuous with the fixed piece 2133. It has a piece 2132.
  • the two leg pieces 2132 each have a protrusion 2132a that projects in a direction away from each other.
  • the outer peripheral portion 2122a of the bottom wall of the forceps main body 2012 can lock the protrusion 2132a when the pair of gripping pieces 2111 and 2112 are in the above-mentioned second state.
  • the first shaft portion 2015 is the first of the forceps main body 2012 in a state where the protrusion 2132a of the connecting member 2013 is locked to the outer peripheral portion 2122a of the bottom wall of the forceps main body 2012. It is urged in the direction approaching the two-axis portion 2123. As a result, the protrusion 2132a of the connecting member 2013 can be stably maintained in a state of being locked to the outer peripheral portion 2122a of the bottom wall of the forceps main body 2012.
  • the extending portion 2242 of the sheath 2024 engages the notch portion 2122b of the forceps main body 2012, and the biological tissue Bi is arranged between the pair of gripping pieces 2111 and 2112.
  • the ball clamp 2028 is arranged inside the sheath 2024. In this state, when the ball clamp 2028 moves in the ⁇ Y direction, the second shaft portion 2123 of the forceps main body 2012 is moved to the end of the long holes 2113a and 2114a of the arm pieces 2113 and 2114 on the side opposite to the first shaft portion 2015 side.
  • a pair of gripping pieces 2111 and 2112 are arranged to grip the biological tissue Bi.
  • the gripping forceps 2001 separate from the pair of gripping pieces 2111 and 2112.
  • the gripping forceps 2001 can be fixed to the living tissue Bi simply by moving the sheath 2024 or the support wire 2022. Therefore, there is an advantage that the work load when fixing the gripping forceps 2001 of the user to the living tissue Bi is reduced.
  • the tip of the support wire 2032 is the gripping forceps 2001 in a state where the magnetic body 14 is attracted to the magnet 2038 and the tip of the sheath 2034 is in contact with the forceps body 2012.
  • the second shaft portion 2123 of the forceps main body 2012 is arranged at the end of the long holes 2113a and 2114a of the arm pieces 2113 and 2114 on the first shaft portion 2015 side by being pushed toward the first shaft portion 2015 side. Then, the pair of gripping pieces 2111 and 2112 are in the above-mentioned second state, and the gripping forceps 2001 are separated from the living tissue Bi.
  • the gripping forceps 2001 fixed to the biological tissue Bi can be separated from the biological tissue Bi simply by moving the sheath 2034 or the support wire 2032. Can be made to. Therefore, there is an advantage that the work load when the gripping forceps 2001 fixed to the user's biological tissue Bi is separated from the biological tissue Bi and collected is reduced.
  • the gripping forceps according to the present embodiment are arranged so as to be continuous with one of the pair of gripping pieces and one of the pair of gripping pieces at one end in the longitudinal direction and overlapped with each other in the thickness direction.
  • the forceps body has a second shaft portion that is inserted into the elongated holes of each of the pair of support pieces and fixed to the side wall on the inside. For example, as shown in FIGS.
  • the gripping forceps 3001 includes a pair of gripping pieces 2111, 2112, a pair of arm pieces 2113, 2114, a tubular forceps body 3012, and a magnetic body.
  • a columnar first shaft portion 3015, a connecting member 3013 pivotally supported by the first shaft portion 3015, and a coil spring 3172 are provided.
  • FIG. 19A and FIG. 19B the same reference numerals as those in FIGS. 11A and 11B are attached to the same configurations as those in the second embodiment.
  • the arm pieces 2113 and 2114 are continuous with the gripping pieces 2111 and 2112 at the ends on the + Y direction side, and are arranged so as to overlap each other in the thickness direction, that is, in the Z-axis direction.
  • the arm pieces 2113 and 2114 have a long plate shape, and elongated holes 2113a and 2114a penetrating in the thickness direction and extending along the Y-axis direction are bored.
  • the elongated holes 2113a and 2114a communicate with the first sub elongated holes 21131a and 21141a extending in parallel with the Y-axis direction and the first sub elongated holes 21131a and 21141a at the ends on the + Y direction side, respectively, and intersect the Y axis.
  • the forceps body 3012 has a tubular shape, and a pair of arm pieces 2113, 2114 and a first shaft portion 3015 are arranged inside.
  • the forceps body 3012 has a cylindrical portion 3121 having a bottomed cylindrical shape and having an opening 3121c penetrating the bottom wall.
  • a slit 3121a extending in the tubular axis direction of the tubular portion 3121, that is, along the Y-axis direction is formed in a portion of the side wall of the tubular portion 3121 facing the arm pieces 2113 and 2114 in the X-axis direction. ..
  • a notch 3121b which will be described later, is formed at the end of the tubular portion 3121 on the ⁇ Y direction side, extending from the outer peripheral portion of the opening 3121c on the bottom wall to the side wall. Further, on the side wall of the tubular portion 3121, an elongated slit 3121d into which the protrusion 3132a of the connecting member 3013 described later is fitted is formed when the pair of gripping pieces 2111 and 2112 are in the second state described later.
  • the slit 3121d functions as a locking portion capable of locking the protrusion 3132a of the connecting member 3013 described later when the pair of gripping pieces 2111 and 2112 are in the second state, that is, in the closed state.
  • the forceps body 3012 is inserted into the elongated holes 2113a and 2114a of the pair of arm pieces 2113 and 2114 on the inside, and is fixed to the side wall of the end portion of the first tubular portion 2121 on the + Y direction side. Has.
  • the second shaft portion 3123 of the forceps main body 3012 is the end portion of the arm pieces 2113 and 2114 on the long holes 2113a and 2114a on the first shaft portion 3015 side, that is, the second sub long hole 21132a. , 21142b, and are arranged at the end opposite to the side communicating with the first sub-long holes 21131a and 21141a.
  • the ends of the pair of gripping pieces 2111 and 2112 on the side opposite to the side continuous with the arm pieces 2113 and 2114 are in the first state separated by a preset first distance L31.
  • the second shaft portion 3123 of the forceps main body 3012 is the end portion of the elongated holes 2113a and 2114a of the arm pieces 2113 and 2114 on the side opposite to the first shaft portion 3015 side, that is, the first. It is assumed that the sub-long holes 21131a and 21141a are arranged at the ends opposite to the side communicating with the second sub-long holes 21132b and 21142a. In this case, the ends of the pair of gripping pieces 2111 and 2112 on the side opposite to the side continuous with the arm pieces 2113 and 2114, respectively, maintain the second state separated by the second distance L32.
  • the magnetic body 14 is a spherical magnetic body, and a through hole 14a having a circular cross section passing through the center thereof is provided.
  • the connecting member 3013 has a support piece 3131 which is plate-shaped and pivotally supported by the first shaft portion 3015, two leg pieces 3132, and a fixing piece 3133 to which the magnetic body 14 is fixed.
  • the support piece 3131 is provided with a circular through hole 3131a in a plan view penetrating in the thickness direction thereof, and is pivotally supported by a first shaft portion 3015 inserted through the through hole 3131a.
  • Each of the two leg pieces 3132 is long, and one end in the longitudinal direction is continuous with the support piece 3131 and the other end in the longitudinal direction is continuous with the fixed piece 3133.
  • the two leg pieces 3132 are flexible and can be elastically deformed in a direction approaching each other. Further, each of the two leg pieces 3132 has two pairs of protrusions 3132a and 3132b that protrude from two positions in the longitudinal direction in a direction away from each other along the lateral direction.
  • the pair of protrusions 3132a are first protrusions that protrude in the direction away from each other along the lateral direction of each of the leg pieces 3132.
  • the pair of protrusions 3132b are second protrusions that protrude from the protrusions 3132a on the magnetic body 14 side in the direction away from each other along the lateral direction of each of the leg pieces 3132.
  • the protrusion 3132b is arranged outside the forceps body 3012 when the pair of gripping pieces 2111 and 2112 are in the second state, that is, in the closed state.
  • the coil spring 3172 is an urging member arranged inside the forceps main body 3012 and urging the first shaft portion 3015 in a direction approaching the second shaft portion 3123 of the forceps main body 3012.
  • the coil spring 3172 is long and is arranged so as to be wound around a support piece 3171 pivotally supported by the first shaft portion 3015.
  • the support piece 3171 is provided with a circular through hole (not shown) at one end in the longitudinal direction, and is pivotally supported by a first shaft portion 3015 inserted through the through hole.
  • the forceps feeder 3002 of the present embodiment is inserted into the ball clamp 3028 that sandwiches the magnetic body 14 of the gripping forceps 3001, the inner sheath 3027 connected to the ball clamp 3028, and the inside of the inner sheath.
  • the support wire 3022, the pressing member 3026, and the outer sheath 3024 arranged outside the inner sheath 3027 are provided.
  • the forceps feeder 3002 includes an operation unit (not shown) for moving the inner sheath 3027 or the support wire 3022 relative to the outer sheath 3024. As shown in FIGS.
  • the ball clamp 3028 has a pair of holding portions 3482 having a semicircular cross section and holding the magnetic body 14 of the gripping forceps 3001, and one end of each of the pair of holding portions 3382 having a cylindrical shape. It is a magnetic material holding portion having a support portion 3281 that supports the portion. A notch 3283 is formed between the support portion 3281 and the pair of sandwiching portions 3382 so that the sandwiching portion 3382 can swivel at the other end portion with one end portion on the support portion 3281 side as a fulcrum.
  • each of the pair of sandwiching portions 3482 is elongated and has slits 3282b extending in the longitudinal direction of the sandwiching portion 3382 and through which protrusions 3263 provided in the pressing member 3026 described later are inserted.
  • slits 3382a are formed on both sides of the support portion 3281 in the arrangement direction of the pair of holding portions 3382, which are elongated and extend in the tubular axis direction and through which pins 3262 provided in the pressing member 3026 described later are inserted. It is installed.
  • the support wire 3022 is inserted inside the inner sheath 3027.
  • the pressing member 3026 has a columnar shape, and the base end side in the central axis direction is fixed to the tip end portion of the support wire 3022.
  • a pressing portion 3261 for pressing the magnetic body 14 is provided at the tip end portion of the pressing member 3026, and a columnar pin 3262 for guiding the movement of the pressing member 3026 is provided at the rear end portion of the pressing member 3026. ing. Both ends of the pin 3262 are movable along the slit 3382a in a state of being fitted in the slit 3382a of the ball clamp 3028.
  • protrusions 3263 projecting in a direction orthogonal to the central axis direction are arranged at two positions on the side wall of the pressing member 3026, respectively.
  • the two protrusions 3263 are respectively the slit 3382b of the ball clamp 3028. It is in a state of being fitted in.
  • the protrusion 3263 separates from the slit 3382b and moves toward the tip end side of the pair of holding portions 3382.
  • the outer sheath 3024 has a long cylindrical shape, and the inner sheath 3027, the pressing member 3026, and the support wire 3022 are inserted inside.
  • two extending portions 3242 extending from the tip of the outer sheath 3024 are provided.
  • Each of the two extending portions 3242 is an engaging portion that engages with the notch portion 3121b of the forceps main body 3012, and a long opening portion 3242a is provided in the central portion thereof.
  • notches 3242b extending in the longitudinal direction of the outer sheath 3024 are provided on both sides of the extending portion 3242 at the tip of the outer sheath 3024.
  • the extension portion 3242 is provided with the opening portion 3242a and the extension portion 3242b is provided at the tip end portion of the outer sheath 3024, the extension portion 3242 can be deformed so as to contract in the width direction thereof. ing. Further, as shown in FIG. 21A, slits extending in the longitudinal direction from the tip of the outer sheath 3024 are formed at two positions facing each other in the direction orthogonal to the facing direction of the two extending portions 3242 at the tip of the outer sheath 3024. 3024a is provided. The width of the slit 3024a is set to a width into which the protrusion 3132b of the connecting member 3013 of the gripping forceps 3001 can be inserted. Further, the outer sheath 3024 is set to a size capable of accommodating a part of the gripping forceps 3001 and the ball clamp 3028 in a state where the ball clamp 3028 sandwiches the magnetic body 14 of the gripping forceps 3001.
  • the extension portion of the outer sheath 3024 is in a state where the protrusion 3132a of the connecting member 3013 of the gripping forceps 3001 is fitted into the slit 3121d of the forceps body 2012 and the magnetic body 14 is sandwiched by the ball clamp 3028.
  • the 3242 is engaged with the notch 3121c of the gripping forceps 3001.
  • the protrusion 3132b of the connecting member 3013 of the gripping forceps 3001 is arranged at the tip of the outer sheath 3024 in a state of being in contact with the tip of the outer sheath 3024. Further, the protrusion 3132b of the connecting member 3013 of the gripping forceps 3001 is fitted inside the slit 3024a of the outer sheath 3024 shown in FIG. 21A. In this state, as shown by the arrow AR21 in FIG. 22A, the tip of the outer sheath 3024 is brought closer to the biological tissue Bi in the body cavity.
  • the ball clamp 3028 holding the magnetic body 14 is projected toward the tip of the outer sheath 3024, that is, toward the + Y direction. ..
  • the second shaft portion 3123 of the gripping forceps 3001 moves to the end portion of the elongated holes 2113a and 2114a on the first shaft portion 3015 side.
  • the ends of the pair of gripping forceps 3001 on the side continuous with the arm pieces 2113 and 2114 of the gripping pieces 2111 and 2112 and the ends on the opposite side are separated from each other by the first distance L31.
  • the tip of the outer sheath 3024 is brought closer to the biological tissue Bi, and the protruding portions 2111a and 2112a of the pair of gripping pieces 2111 and 2112 are brought into contact with the biological tissue Bi, so that the protruding portions 2111a and 2112a are brought into contact with the biological tissue Bi. Lock to Bi.
  • the biological tissue Bi is arranged between the pair of gripping pieces 2111 and 2112.
  • the ball clamp 3028 is moved to the side opposite to the tip end side of the outer sheath 3024, that is, to the ⁇ Y direction side.
  • the second shaft portion 3123 of the grasping forceps 3001 moves toward the end portion of the elongated holes 2113a and 2114a on the side opposite to the first shaft portion 3015 side.
  • the two leg pieces 3132 of the connecting member 3013 of the gripping forceps 3001 are elastically deformed in the direction of approaching each other, and the protrusions 3132a move over the outer peripheral portion of the bottom wall 3121e of the forceps body 3012 to the outside of the forceps body 3012. ..
  • the coil spring 3172 is in a state of urging the first shaft portion 3015 in the direction approaching the second shaft portion 3123. Then, the protrusions 3132a of the connecting member 3013 are respectively locked inside the slit 3121d of the forceps main body 3012 by the urging force of the coil spring 3172. Then, as shown in FIG. 22C, the other ends of the pair of gripping pieces 2111 and 2112 are in the second state separated by the second distance L32, and the pair of gripping pieces 2111 and 2112 grip the biological tissue Bi. Is maintained at.
  • the ball clamp 3028 is projected to the outside of the outer sheath 3024 by moving the support wire 3022 and the inner sheath 3027 relative to the outer sheath 3024 in the + Y direction.
  • the protrusion 3132b of the connecting member 3013 of the gripping forceps 3001 is separated from the inside of the slit 3024a of the outer sheath 3024 shown in FIG. 21A.
  • the ball clamp 3028 is opened by the protrusion 3263 of the pressing member 3026, and at the same time, the pressing member is opened.
  • the magnetic body 14 is pushed out of the ball clamp 3028 by the pressing portion 3261 of 3026.
  • the grasping forceps 3001 can be fixed to the biological tissue Bi in the body cavity by performing a series of operations using the forceps feeder 3002.
  • the forceps recovery tool 3003 of the present embodiment has a ball clamp 3038 for sandwiching the magnetic body 14 of the gripping forceps 3001 and an inner sheath 3037 connected to the ball clamp 3038, similarly to the forceps supply tool 3002. And a support wire 3032 inserted inside the inner sheath.
  • the forceps recovery tool 3003 includes a suction member 3036 that attracts the magnetic body 14 at the tip end portion, and an outer sheath 3034 that is arranged outside the inner sheath 3037.
  • the forceps recovery tool 3003 like the forceps supply tool 3002, includes an operation unit (not shown) for moving the inner sheath 3037 or the support wire 3032 relative to the outer sheath 3034.
  • the ball clamp 3038 Similar to the ball clamp 3028 of the forceps feeder 3002, the ball clamp 3038 includes a pair of holding portions 3382 and a support portion 3381 that supports one end of each of the pair of holding portions 3382, as shown in FIGS. 24B and 24C. , Have. Further, a notch 3383 is formed between the support portion 3381 and the pair of holding portions 3382.
  • each of the pair of holding portions 3382 is provided with slits 3382b through which the protrusions 3363 provided on the suction member 3036, which will be described later, are inserted.
  • the support portion 3381 is provided with a slit 3382a through which a pin 3362 provided in the suction member 3036 described later is inserted.
  • the suction member 3036 has a columnar shape, and the base end side in the central axis direction is fixed to the tip of the support wire 3032.
  • a magnet 3361 for attracting the magnetic body 14 is provided at the tip of the suction member 3036.
  • a columnar pin 3362 for guiding the movement of the suction member 3036 is provided at the rear end of the suction member 3036. Both ends of the pin 3362 are fitted into the slit 3382a of the ball clamp 3028.
  • protrusions 3363 projecting in a direction orthogonal to the central axis direction are arranged at two positions on the side wall of the suction member 3036, respectively.
  • the outer sheath 3034 has a long cylindrical shape, and the inner sheath 3037, the suction member 3036, and the support wire 3022 are inserted inside.
  • the outer sheath 3024 is set to a size that can accommodate the ball clamp 3038 inside.
  • the opening diameter of the tip portion of the outer sheath 3034 is set to a length that prevents the protrusion 3132b portion of the connecting member 3013 of the gripping forceps 3001 from penetrating inward while the ball clamp 3028 sandwiches the magnetic body 14 of the gripping forceps 3001. ing.
  • the magnet 3361 of the suction member 3036 fixed to the tip of the support wire 3032 is projected to the outside of the ball clamp 3038, and the magnet 3361 is attached to the biological tissue Bi as shown by the arrow AR32. It is brought close to the magnetic body 14 of the gripping forceps 3001 fixed to. Then, as shown in FIG. 25B, the magnetic body 14 of the gripping forceps 3001 is attracted to the magnet 3361 of the forceps recovery tool 3003.
  • the support wire 3032 of the forceps recovery tool 3003 is moved with respect to the inner sheath 3037 in the ⁇ Y direction to the magnet 3361 of the attraction member 3036.
  • the attracted magnetic body 14 is moved to the inside of the ball clamp 3038.
  • the pair of holding portions 3382 of the ball clamp 3038 are closed and the magnetic body 14 is held by the ball clamp 3038.
  • the tip end portion of the outer sheath 3034 is brought closer to the protrusion 3132b of the connecting member 3013 of the gripping forceps 3001. Then, as shown in FIG. 26A, the tip of the outer sheath 3034 is brought into contact with the protrusion 3132b of the connecting member 3013. Then, by pressing the tip of the outer sheath 3034 against the two protrusions 3132b of the connecting member 3013, the connecting member 3013 is bent so that the two protrusions 3132b approach each other.
  • the second shaft portion 3123 of the gripping forceps 3001 moves in the elongated holes 2113a and 2114a of the arm pieces 2113 and 2114 toward the first shaft portion 3015, and the pair of gripping pieces 2111 and 2112 are in the above-mentioned first state. It becomes. Then, as shown in FIG. 26B, the protruding portions 2111a and 2112a of the pair of gripping pieces 2111 and 2112 are separated from the biological tissue Bi, and the gripping forceps 3001 are taken out of the body cavity. As described above, by performing a series of operations using the forceps recovery tool 3003, the gripping forceps 3001 fixed to the biological tissue Bi can be recovered.
  • the second shaft portion 2123 of the forceps main body 3012 has the arm piece 2113, with the biological tissue Bi arranged between the pair of gripping pieces 2111 and 2112.
  • the biological tissue Bi is sandwiched between the pair of gripping pieces 2111 and 2112, and the gripping forceps 2001 are attached to the biological tissue Bi. It is fixed.
  • the magnetic body 14 is moved in a direction approaching the forceps body 3012, and the second shaft portion 3123 of the forceps body 3012 has the elongated holes 2113a and 2114a of the arm pieces 2113 and 2114.
  • the grasping forceps 3001 can be detached from the living tissue Bi only by arranging the gripping forceps 3001 at the end of the first shaft portion 3015 side.
  • the gripping forceps 3001 can be easily detached from the living tissue Bi simply by pushing the magnetic body 14 in the direction approaching the forceps body 3012, so that the gripping forceps 3001 can be easily attached to and detached from the living tissue Bi. There is an advantage.
  • the forceps recovery tool 3003 can take out the magnetic body 14 of the gripping forceps 3001 from the body cavity while being held by the ball clamp 3038. Therefore, it is possible to suppress the occurrence of the gripping forceps 3001 falling into the body cavity during the transportation of the gripping forceps 3001.
  • the connecting member 19 of the gripping forceps 1 in the embodiment has a structure using a hinge or a link bar, or has a structure in which the gripping pieces 111 and 112 can be opened and closed as the ring 12 moves. You may.
  • the area of the cross section orthogonal to the tubular axis direction of only a part of the outer sheath including the tip portion of the outer sheath inside the outer sheath is the outer flange portion 122 of the ring 12 of the gripping forceps 1. It may be larger than the area of the contour of the cross section orthogonal to the tubular axis direction in. In this case, for example, it is possible to reduce the outer diameter of the outer sheath other than a part including the tip portion thereof.
  • the forceps feeder 2 according to the embodiment, only a part of the inner sheath 24 including the tip of the inner sheath is held inside by the ball clamp 28 with the magnetic body 14 of the gripping forceps 1 sandwiched therein.
  • the connecting member 19, the magnetic body 14, the connecting member 13, and the ball clamp 28 may be set to a size that can be accommodated. In this case, for example, it is possible to reduce the outer diameter of the inner sheath other than a part including the tip portion thereof.
  • only the area of the cross section orthogonal to the tubular axis direction of a part of the inner sheath including the tip portion of the inner sheath inside the inner sheath is the outer flange portion of the ring 12 of the gripping forceps 1. It may be smaller than the area of the contour of the cross section orthogonal to the tubular axis direction in 122.
  • the forceps recovery tool 3 according to the first embodiment, only a part of the inner sheath including the tip of the inner sheath is attracted to the magnet 38 in which the magnetic body 14 of the gripping forceps 1 is fixed to the tip of the support wire 32.
  • the connecting member 19, the magnetic body 14, the connecting member 13, and the magnet 30 of the gripping forceps 1 may be set to a size that can be accommodated.
  • the shape of the magnetic body 14 is not limited to this, and is, for example, a cube, a rectangular parallelepiped, a columnar shape, or the like. It may be in the shape of.
  • the shapes of the notches 282a and 2282a of the ball clamps 28 and 2028 of the forceps feeder 2 and 2002 are preferably shaped according to the shape of the magnetic body 14. For example, when the magnetic body 14 has a cubic shape, the cutouts 282a and 2282a may have a rectangular shape.
  • the present invention is suitable as a grasping forceps for gripping a lesion portion of a living tissue when performing an operation on the living tissue in the body cavity using an endoscope.

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

Abstract

L'invention a pour but de fournir une pince de préhension, un outil d'alimentation de pince, et un outil de collecte de pince pouvant être facilement attaché à un tissu vivant et détaché d'un tissu vivant, la pince de préhension (1) étant conçue pour fournir une paire de pièces de préhension (111, 112), un élément de raccordement (19) qui se raccorde à une extrémité de chacune des pièces de préhension dans la direction longitudinale et sollicite les pièces de préhension de façon à créer un premier état dans lequel les autres extrémités des pièces de préhension sont séparées les unes des autres, un anneau (12) qui est cylindrique et a un collier externe annulaire (122) faisant saillie à partir de la paroi externe, un corps magnétique sphérique (14), et un élément de liaison (13) qui relie l'élément de liaison et le corps magnétique.
PCT/JP2021/006682 2020-02-25 2021-02-22 Pince de préhension, outil d'alimentation de pince et outil de collecte de pince WO2021172291A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021545696A JP7026366B2 (ja) 2020-02-25 2021-02-22 把持鉗子、鉗子供給具および鉗子回収具

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JP2020029138 2020-02-25
JP2020-029138 2020-02-25

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114986483A (zh) * 2022-08-04 2022-09-02 杭州骏沃机电科技有限公司 一种机械臂吸附机构固定装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115444491B (zh) * 2022-10-11 2024-01-30 常州市久虹医疗器械有限公司 夹闭组件及内窥镜用止血装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007061535A (ja) * 2005-09-02 2007-03-15 Pentax Corp 内視鏡用把持装置
JP2014018509A (ja) * 2012-07-20 2014-02-03 Olympus Corp クリップ装置およびその製造方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007061535A (ja) * 2005-09-02 2007-03-15 Pentax Corp 内視鏡用把持装置
JP2014018509A (ja) * 2012-07-20 2014-02-03 Olympus Corp クリップ装置およびその製造方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114986483A (zh) * 2022-08-04 2022-09-02 杭州骏沃机电科技有限公司 一种机械臂吸附机构固定装置

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