SURGICAL INSTRUMENT DEVICE

• US 20140039519A1
• Filed: 10/09/2013
• Published: 02/06/2014
• Est. Priority Date: 05/12/2011
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: KISHI, Kosuke, INOUE, Shintaro
• Granted Patent: US 9,788,902 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: Y10S 901/08 Robot

Abstract

A surgical instrument device includes a surgical instrument portion which is used in a surgical operation, a slave arm which holds the surgical instrument, a driving rod which is formed in a shaft shape, of which one end portion in the axial direction is connected to the surgical instrument and the other end portion in the axial direction is supported by the slave arm, and which transmits a force between the surgical instrument and the slave arm, a distance change detecting unit which detects a change in distance between two points in the axial direction of the driving rod based on a distance when no load is applied to the surgical instrument, and a force calculating unit which calculates a force applied from the surgical instrument or the slave arm to the driving rod based on the change in distance detected by the distance change detecting unit.

Claims

1. A surgical instrument device comprising:

a surgical instrument portion which is used in a surgical operation;

a surgical instrument device body which holds the surgical instrument portion;

a force transmitting member which is formed in a shaft shape, of which one end portion in an axial direction is connected to the surgical instrument portion and the other end portion in the axial direction is supported by the surgical instrument device body, and which transmits a force between the surgical instrument portion and the surgical instrument device body;

a distance change detecting unit which detects a change in distance between two points away from each other in the axial direction on the force transmitting member based on a distance when no load is applied to the surgical instrument portion; and

a force calculating unit which calculates a force applied from the surgical instrument portion or the surgical instrument device body to the force transmitting member based on the change in distance detected by the distance change detecting unit.

2. The surgical instrument device according to claim 1,

wherein the force calculating unit includes a storage unit which stores a conversion equation for converting the change in distance into the force and performs a calculation for converting the change in distance into the force using the conversion equation.

3. The surgical instrument device according to claim 1,

wherein the distance change detecting unit includes:

a first displacement detecting unit which detects a displacement of a distal end side point of the two points away from each other in the axial direction on the force transmitting member; and

a second displacement detecting unit which detects a displacement of a proximal end side point of the two points away from each other in the axial direction on the force transmitting member, and

the displacement of the distal end side point detected by the first displacement detecting unit and the displacement of the proximal end side point detected by the second displacement detecting unit are converted into the displacements based on a position where no load is applied to the surgical instrument portion, and the change in distance is calculated by a difference between the displacement of the distal end side point and the displacement of the proximal end side point after the conversion.

4. The surgical instrument device according to claim 3,

wherein at least one of the first displacement detecting unit and the second displacement detecting unit is configured of a linear encoder.

5. The surgical instrument device according to claim 3,

wherein the surgical instrument device body includes a driving unit which advances and retracts a proximal end portion of the force transmitting member in the axial direction, and

the force transmitting member is supported by the surgical instrument device body through the driving unit.

6. The surgical instrument device according to claim 5,

wherein the driving unit includes a driving amount detector which detects a driving amount of an advance and retract driving, and

the second displacement detecting unit detects the displacement of the proximal end side point based on an output of the driving amount detector.

7. The surgical instrument device according to claim 3,

wherein the surgical instrument portion is attachable to and detachable from the surgical instrument device body, and

the force transmitting member includes:

a distal end side force transmitting member which is provided in the surgical instrument portion and has a first connection portion provided at a proximal end side thereof; and

a proximal end side force transmitting member which is provided in the surgical instrument device body and has a second connection portion provided at a distal end side so as to be connected to the first connection portion of the distal end side force transmitting member.

8. The surgical instrument device according to claim 7,

wherein the first displacement detecting unit detects a displacement of a point on the distal end side force transmitting member, and

the second displacement detecting unit detects a displacement of a point on the proximal end side force transmitting member.

9. The surgical instrument device according to claim 1,

wherein the distance change detecting unit includes:

a displacement detecting unit which detects a displacement of one of the two points away from each other in the axial direction on the force transmitting member; and

a displacement detecting unit holding member which is fixed to the other point of the two points away from each other in the axial direction on the force transmitting member, extends in the axial direction of the force transmitting member, and holds the displacement detecting unit at a predetermined distance from the other point.

10. The surgical instrument device according to claim 9,

wherein the displacement detecting unit is configured of a linear encoder.

11. The surgical instrument device according to claim 9,

wherein the surgical instrument device body includes a driving unit which advances and retracts a proximal end portion of the force transmitting member in the axial direction, and

the force transmitting member is supported by the surgical instrument device body through the driving unit.

12. The surgical instrument device according to claim 9,

wherein the surgical instrument portion is attachable to and detachable from the surgical instrument device body, and

the force transmitting member includes:

a distal end side force transmitting member which is provided in the surgical instrument portion and has a first connection portion provided in a proximal end side thereof; and

a proximal end side force transmitting member which is provided in the surgical instrument device body and has a second connection portion provided at a distal end side thereof so as to be connected to the first connection portion of the distal end side force transmitting member.

13. The surgical instrument device according to claim 1,

wherein the force transmitting member includes a distance change amplifying portion which is provided in a portion between the two points away from each other in the axial direction so that deformation in the axial direction caused by a force applied from the surgical instrument portion or the surgical instrument device body becomes larger than that of the other portion between the two points.