Surgical instrument and method of assembling surgical instrument

Patent metadata

Field	Value
Publication number	US-12544168-B2
Application number	US-202017023367-A
Country	US
Kind code	B2
Filing date	Sep 17, 2020
Priority date	Sep 26, 2019
Publication date	Feb 10, 2026
Grant date	Feb 10, 2026

Abstract

A surgical instrument according to an embodiment may include: a shaft; a seal member disposed in a support body; and a pressing member including a pressing surface in contact with and pressing a surface of the seal member on a side of the shaft, wherein the pressing member is pressed by the shaft.

First claim

The invention claimed is:

1 . A surgical instrument to be attached to a robot arm, comprising:
an end effector; an end effector support body that supports the end effector to be rotatable about a first axis; a support body that includes a partition wall provided between a proximal end and a distal end of the support body, and that supports the end effector support body to be rotatable about a second axis; a shaft including a distal end to which the proximal end of the support body is connected such that the distal end of the shaft is opposed to the proximal end of the support body in an axial direction of the shaft; a seal member provided in the support body and seals an inside of the support body; and a pressing member provided outside the shaft, formed in a flat plate shape, and including a pressing surface in contact with and pressing a surface of the seal member on a shaft side of the seal member, wherein the pressing member comprises a pressed portion provided outside an outer peripheral end of the pressing surface in a radial direction of the shaft, the pressed portion projects outwardly in the radial direction of the shaft from the outer peripheral end of the pressing surface in the radial direction, the shaft includes a projection that projects in the axial direction of the shaft from the distal end of the shaft, the pressed portion is provided at a position opposed to the projection of the shaft in the axial direction of the shaft, and the pressed portion of the pressing member is pressed by the projection of the shaft toward the sealing member and the partition wall in the axial direction of the shaft such that the seal member is pressed and held, in the axial direction of the shaft, between the partition wall of the support body and the pressing surface of the pressing member.

2 . The surgical instrument according to claim 1 , wherein
the pressing surface of the pressing member extends in a radial direction of the shaft and is in contact with the surface of the seal member on the shaft side in an area from a center portion to an outer portion thereof in the radial direction, wherein the pressing surface of the pressing member is pressed against the surface of the seal member on the shaft side.

3 . The surgical instrument according to claim 1 , wherein
the projection of the shaft comprises a plurality of projections arranged in a circumferential direction of the shaft, and the pressed portion of the pressing member comprises a plurality of pressed portions arranged in the circumferential direction of the shaft, and the plurality of projections and the plurality of pressed portions are respectively arranged in point symmetry with respect to a center point of the shaft in the radial direction, as seen in the axial direction of the shaft.

4 . The surgical instrument according to claim 1 , wherein
the pressed portion of the pressing member is provided at a position outside an outer circumferential surface of the seal member in the radial direction of the shaft and inside or same as an outer circumferential surface of the shaft in the radial direction of the shaft.

5 . The surgical instrument according to claim 1 , wherein
the support body includes a cutout recessed from the proximal end of the support body toward the distal end of the support body in the axial direction, the pressed portion of the pressing member and the projection of the shaft are disposed in the cutout of the support body, and the pressed portion of the pressing member is pressed by the projection of the shaft toward the sealing member and the partition wall in the axial direction such that the seal member is pressed and held, in the axial direction, between the partition wall of the support body and the pressing surface of the pressing member.

6 . The surgical instrument according to claim 5 , wherein
the cutout of the support body comprises two cutouts, the pressed portion of the pressing member comprises two pressed portions, and the shaft comprises two projections.

7 . The surgical instrument according to claim 6 , wherein
the cutouts of the support body, the pressed portions of the pressing member, and the projections of the shaft are respectively arranged in line symmetry with respect to a line extending in the radial direction of the shaft as seen in the axial direction of the shaft.

8 . The surgical instrument according to claim 1 , wherein
the pressing surface of the pressing member is provided closer to the end effector than an end effector side surface of the pressed portion of the pressing member.

9 . The surgical instrument according to claim 1 , further comprising an electric wire for supplying electric energy to the end effector, wherein
the seal member includes a through hole at a position corresponding to a position where the electric wire is inserted through the seal member, and the pressing member includes a through hole at a position corresponding to the position where the electric wire is inserted through the seal member.

10 . The surgical instrument according to claim 9 , wherein
the end effector comprises a scissors.

11 . The surgical instrument according to claim 1 , further comprising:
a first elongate element for rotating the end effector support body with respect to the support body; and a second elongate element for rotating the end effector with respect to the end effector support body, wherein the seal member comprises: a first insertion hole to which the first elongate element is to be inserted; and a second insertion hole to which the second elongate element is to be inserted, the pressing member comprises recessed portions provided at positions corresponding to the first and second insertion holes to avoid interference with the first and second elongate elements.

12 . The surgical instrument according to claim 11 , wherein
the first and second elongate elements are wires or cables.

13 . The surgical instrument according to claim 11 , wherein
the partition wall of the support body includes first and second communication holes at positions corresponding to the first and second insertion holes, and the seal member includes first and second projected portions provided at positions corresponding to the first and second communication holes, and the recessed portions of the pressing member are provided at positions corresponding to the first and second projected portions of the seal member.

14 . The surgical instrument according to claim 1 , wherein
the seal member is configured to be elastically deformable.

15 . The surgical instrument according to claim 1 , wherein
the pressing member is pressed by the distal end of the shaft so as to press the seal member in a direction away from the shaft along the axial direction of the shaft.

16 . The surgical instrument according to claim 1 , wherein
the projection projects in the axial direction from a part, in the circumferential direction, of the distal end of the shaft.

17 . The surgical instrument according to claim 1 , wherein
the pressed portion of the pressing member extends further outward in the radial direction of the shaft than the outer circumferential surface of the sealing member.

18 . The surgical instrument according to claim 1 , wherein
the pressing surface of the pressing member extends in a plane orthogonal to the axial direction of the shaft.

19 . A surgical instrument to be attached to a robot arm, comprising:
an end effector; a first support body that supports the e

Assignees

• Medicaroid Corp

Inventors

• Betsugi Shota

Classifications

• A61B2018/0063

  Sealing · CPC title

• A61B18/1445

  at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B2034/306

  Wrists with multiple vertebrae · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title