Medical equipment

• US 9,524,022 B2
• Filed: 02/03/2014
• Issued: 12/20/2016
• Est. Priority Date: 08/04/2011
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Nakayama, Shingo
• Primary Examiner(s): Tyson, Melanie
• Application Number:
  US14/170,856
• Publication Number:
  US 20140148821A1
• Time in Patent Office: 1,051 Days
• 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 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• 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: B25J 9/1689 Teleoperation
• 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 medical equipment includes a surgical instrument having a movable part to perform medical treatment on a target spot, an actuator configured to operate the movable part, and a detachable interface installed on the surgical instrument and configured to attachably and detachably couple the surgical instrument to the actuator. The detachable interface has an origin return mechanism configured to move the movable part to a predetermined origin position when the surgical instrument is detached from the actuator.

Claims

1. A medical equipment comprising:

an actuator configured to generate rotary motion about a first axis; and

a surgical instrument comprising;

an end effector configured to move;

a rotary member configured to be detachably connected to the actuator,

wherein the rotary member is configured to rotate about a second axis, coaxial with the first axis, in accordance with receiving the rotary motion to move the end effector; and

an origin return mechanism configured to rotate the rotary member about the second axis to a predetermined origin position when the rotary member is detached from the actuator.

2. The medical equipment according to claim 1,

wherein the origin return mechanism comprises:

a moving member connected to the rotary member, wherein the moving member is configured to be rotated by the rotary member about the second axis to move the end effector; and

a return member configured to contact the moving member such that the moving member rotates the rotary member about the second axis to the predetermined origin position.

3. The medical equipment according to claim 2,

wherein the return member comprises a biasing member configured to bias the moving member and to cause the moving member to rotate the rotary member about the second axis to the predetermined origin position.

4. The medical equipment according to claim 3, further comprising a regulating member configured to regulate movement of the moving member by the biasing member.

5. The medical equipment according to claim 4,

wherein the regulating member comprises an adjustment part configured to adjust an amount of the movement of the moving member.

6. The medical equipment according to claim 3,

wherein the biasing member comprises a damper.

7. The medical equipment according to claim 2,

wherein the actuator comprises:

a shaft body configured to be rotated; and

a power source configured to rotate the shaft body using a central axis of the shaft body as a rotational center,

wherein the rotary member is configured to be detachably connected to the shaft body and to be rotated about the second axis along with the shaft body, and

wherein the surgical instrument further comprises a power transmission member,

wherein a first portion of the power transmission member is coupled to the moving member, and a second portion of the power transmission member is coupled to the end effector such that the end effector is moved via the power transmission member by a rotation of the rotary member and the moving member about the second axis.

8. The medical equipment according to claim 7,

wherein the moving member comprises a cam configured to extend in a circumferential direction of the moving member, and

wherein the return member comprises a cam pin configured to come into contact with and press the cam such that the moving member rotates the rotary member about the second axis to the predetermined origin position.

9. The medical equipment according to claim 8,

wherein the rotary member comprises a stopper configured to regulate a rotation of the rotary member so that the rotary member is stopped at the predetermined origin position.

10. The medical equipment according to claim 7,

wherein the moving member comprises a cam configured to extend in a circumferential direction of the moving member, and

wherein the rotary member comprises a stopper configured to regulate a rotation of the rotary member so that the rotary member is stopped at the predetermined origin position.

11. The medical equipment according to claim 2,

wherein the return member comprises:

a string member put on an outer circumference of the moving member; and

springs fixed to the string member, and

wherein the moving member is connected to the springs via the string member so as to rotate the rotary member about the second axis to the predetermined origin position when no external force is applied to the springs.

12. A surgical instrument comprising:

an end effector configured to be moved;

a rotary member configured to be detachably connected to an actuator configured to generate rotary motion about a first axis, the rotary member being configured to rotate about a second axis, coaxial with the first axis, in accordance with receiving the rotary motion to move the end effector; and

an origin return mechanism configured to rotate the rotary member about the second axis to a predetermined origin position when the rotary member is detached from the actuator.

13. A medical equipment comprising:

an actuator configured to generate rotary motion; and

a surgical instrument comprising;

an end effector configured to be moved;

an origin return mechanism; and

a rotary member having a connected state and a disconnected state,

wherein in the connected state, the origin return mechanism is configured to disengage from the rotary member, and the rotary member is configured to be connected to the actuator to be rotated about a rotation axis by the rotary motion to move the end effector, and

wherein in the disconnected state, the rotary member is configured to be disconnected from the actuator, and the origin return mechanism is configured to engage the rotary member to rotate the rotary member to a predetermined position.

14. The medical equipment according to claim 13,

wherein the origin return mechanism comprises a pressing member, and

wherein in the disconnected state, the rotary member is configured to be disconnected from the actuator, and the pressing member is configured to press the rotary member to rotate the rotary member to the predetermined position.

15. A surgical instrument comprising:

an end effector configured to be moved;

an origin return mechanism; and

a rotary member having a connected state and a disconnected state,

wherein in the connected state, the origin return mechanism is configured to disengage from the rotary member, and the rotary member is configured to be connected to an actuator configured to generate rotary motion, to be rotated about a rotation axis by the rotary motion to move the end effector, and

wherein in the disconnected state, the rotary member is configured to be disconnected from the actuator, and the origin return mechanism is configured to engage the rotary member to rotate the rotary member to a predetermined position.