Surgical instrument and medical manipulator

• US 9,161,772 B2
• Filed: 08/03/2012
• Issued: 10/20/2015
• Est. Priority Date: 08/04/2011
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Hyodo, Ryoji
• Primary Examiner(s): EASTWOOD, DAVID C
• Application Number:
  US13/566,023
• Publication Number:
  US 20130066333A1
• Time in Patent Office: 1,173 Days
• Field of Search: 606/1, 606 51- 52, 606/130, 606205-209, 600/104
• US Class Current: 1/1
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 18/1402 Probes for open surgery
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2017/2931 with releasable head
• CPC Class Codes: A61B 2017/2946 Locking means
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 46/23 with means to retain or hold surgical implements
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: G06F 3/01 Input arrangements or combined input and output arrangements for interaction between user and computer G06F3/16 takes precedence
• CPC Class Codes: Y10S 901/08 Robot
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/30 End effector
• CPC Class Codes: Y10T 29/49826 : Assembling or joining
• CPC Class Codes: Y10T 74/18056 : Rotary to or from reciprocating or oscillating

Abstract

A surgical instrument for performing treatment to a treatment target portion includes a cylindrical elongated member; a treatment part, and a connection part. The connection part includes a first turning axis part provided to the elongated member, a second turning axis part provided to the treatment part, a first rolling guide part that is provided to the elongated member and includes a circular-arc-shaped part coaxial with the first turning axis part, a second rolling guide part that is provided to the treatment part and includes a rolling guide part including a circular-arc-shaped part coaxial with the second turning axis part, the rolling guide part rollingly contacting the first rolling guide part, and an engaging part that brings the treatment part and the elongated member into an engaging state. The connection part is detachable between the first turning axis part and the second turning axis part.

Claims

1. A surgical instrument for performing treatment to a treatment target portion, the surgical instrument comprising:

a cylindrical elongated member having a long axis;

a treatment part connected to the elongated member; and

a connection part that detachably connects the elongated member to the treatment part, wherein

the connection part comprises;

a first turning axis part provided to the elongated member;

a second turning axis part provided to the treatment part;

a first rolling guide part that is provided to the elongated member and includes a circular-arc-shaped part coaxial with the first turning axis part;

a second rolling guide part that is provided to the treatment part and includes a rolling guide part having a circular-arc-shaped part coaxial with the second turning axis part, the rolling guide part rollingly contacting the first rolling guide part;

an engaging part that brings the treatment part and the elongated member into an engaging state, and

the connection part is detachable between the first turning axis part and the second turning axis part;

wherein the engaging part comprises;

a main unit that is connected to the first turning axis part and is capable of engaging with the second turning axis part;

a ring-shaped member that is provided separately from the main unit, and binds the main unit together with the second turning axis part; and

a locking member that switches between a bound state and a released state, wherein in the bound state, the ring-shaped member is arranged in a position where it binds the main unit and the second turning axis part, and in the released state, the ring-shaped member is arranged in a position deviated from the position where it binds the main unit and the second turning axis part.

2. The surgical instrument according to claim 1, wherein

the main unit is provided with a groove that engages with the ring-shaped member and defines its movement direction;

the locking member is provided with a groove and is capable of moving relative to the main unit;

when the groove provided in the locking member and the groove provided in the main unit are in a communicating state, the ring-shaped member is capable of switching between the released state and the bound state; and

when the groove provided in the locking member and the groove provided in the main unit are in a non-communicating state, the treatment part is held in the bound state with respect to the elongated member.

3. The surgical instrument according to claim 1, further comprising:

a treatment tool piece provided on the treatment part and is capable of operating;

a joint for operating the treatment tool piece that connects the elongated member to the treatment tool piece; and

a moving member that is connected to the joint for operating the treatment tool piece in order to operate the treatment tool piece, wherein

the joint for operating the treatment tool piece comprises;

a first operation turning member that is connected to the moving member and turns around a predetermined center of turning;

a second operation turning member that is connected to the first operation turning member such that it turns in the opposite direction relative to the first operation turning member coaxial with the second turning axis part or around a center of turning that is nearer to the first turning axis part than the second turning axis part; and

a link that converts a rotational force of the second operation turning member to an operation of the treatment tool piece;

the joint for operating treatment tool piece is detachable between the first operation turning member and the second operation turning member by being detachable from the connection part.

4. The surgical instrument according to claim 3, wherein

the treatment tool piece comprises a pair of treatment tool pieces, and

the operation of the treatment tool pieces is an operation of opening and closing the pair of treatment tool pieces.

5. A medical manipulator comprising:

the surgical instrument according to claim 1;

a slave manipulator including at least one joint, the surgical instrument being attached to the slave manipulator; and

a master manipulator that generates operating commands for driving the joint of the slave manipulator.

6. The surgical instrument according to claim 2, further comprising:

a treatment tool piece provided on the treatment part and is capable of operating;

a joint for operating the treatment tool piece that connects the elongated member to the treatment tool piece; and

a moving member that is connected to the joint for operating the treatment tool piece in order to operate the treatment tool piece, wherein

the joint for operating the treatment tool piece comprises;

a first operation turning member that is connected to the moving member and turns around a predetermined center of turning;

a second operation turning member that is connected to the first operation turning member such that it turns in the opposite direction relative to the first operation turning member coaxial with the second turning axis part or around a center of turning that is nearer to the first turning axis part than the second turning axis part; and

a link that converts a rotational force of the second operation turning member to an operation of the treatment tool piece;

the joint for operating treatment tool piece is detachable between the first operation turning member and the second operation turning member by being detachable from the connection part.

7. The surgical instrument according to claim 6, wherein

the treatment tool piece comprises a pair of treatment tool pieces, and

the operation of the treatment tool pieces is an operation of opening and closing the pair of treatment tool pieces.

8. A medical manipulator comprising:

the surgical instrument according to claim 1;

a slave manipulator including at least one joint, the surgical instrument being attached to the slave manipulator; and

a master manipulator that generates operating commands for driving the joint of the slave manipulator.

9. A medical manipulator comprising:

the surgical instrument according to claim 2;

a slave manipulator including at least one joint, the surgical instrument being attached to the slave manipulator; and

a master manipulator that generates operating commands for driving the joint of the slave manipulator.

10. A medical manipulator comprising:

the surgical instrument according to claim 3;

a slave manipulator including at least one joint, the surgical instrument being attached to the slave manipulator; and

a master manipulator that generates operating commands for driving the joint of the slave manipulator.

11. A medical manipulator comprising:

the surgical instrument according to claim 4;

a slave manipulator including at least one joint, the surgical instrument being attached to the slave manipulator; and

a master manipulator that generates operating commands for driving the joint of the slave manipulator.