Medical treatment tool and manipulator including the same

Patent metadata

Field	Value
Publication number	US-9775677-B2
Application number	US-201414275964-A
Country	US
Kind code	B2
Filing date	May 13, 2014
Priority date	Nov 16, 2011
Publication date	Oct 3, 2017
Grant date	Oct 3, 2017

Abstract

Provided is a medical treatment tool, the distance between a first advance and retraction axis, and a tip end is shorter than the length of the first link member, and the length when a line segment connecting the base end and the center of a forceps rotation shaft is projected on the first advance and retraction axis is shorter than the length is projected on the first advance and retraction axis. The distance between a second advance and retraction axis, and a tip end is shorter than the length of the second link member, and the length when a line segment connecting the base end and the center of a forceps rotation shaft is projected on the second advance and retraction axis is shorter than the length projected on the second advance and retraction axis.

First claim

The invention claimed is:

1. A medical treatment tool comprising:
a pair of treatment tool pieces comprising a first treatment tool piece and a second treatment tool piece,
wherein the first treatment tool piece extends along a longitudinal axis and comprises:
a treatment surface provided closer to a distal end of the first treatment tool piece along the longitudinal axis;
an intermediate portion that defines a hole that allows a rotation shaft to pass therethrough, wherein the first treatment tool piece is rotatably supported by the rotation shaft with respect to a substrate to rotate the treatment surface towards and away from the second treatment tool piece to open and close the pair of treatment tool pieces; and
a pair of arm portions provided closer to a proximal end along the longitudinal axis than the rotation shaft in the first treatment piece;

a first manipulating member configured to be movable parallel to an advance and retraction axis with respect to the substrate wherein the first manipulating member is configured to be towed parallel to the advance and retraction axis and away from the pair of treatment tool pieces to rotate the pair of treatment tool pieces in a direction in which the pair of treatment tool pieces is opened;
a second manipulating member configured to be movable parallel to the advance and retraction axis with respect to the substrate wherein the second manipulating member is configured to be towed parallel to the advance and retraction axis and away from the pair of treatment tool pieces to rotate the pair of treatment tool pieces in a direction in which the pair of treatment tool pieces is closed;
a first link member which has a first end coupled to a first arm portion of the pair of arm portions of the first treatment tool piece and a second end coupled to the first manipulating member; and
a second link member which has a first end coupled to a second arm portion of the pair of arm portions of the first treatment tool piece and a second end coupled to the second manipulating member,
wherein a first rotation axis center where the second end of the first link member is coupled to the first manipulating member and a second rotation axis center where the second end of the second link member is coupled to the second manipulating member are positioned closer to the distal end of the first treatment tool piece than a third rotation axis center where the first end of the first link member is coupled to the first arm portion of the pair of arm portions of the first treatment tool piece and a fourth rotation axis center where the first end of the second link member is coupled to the second arm portion of the pair of arm portions of the first treatment tool piece,
wherein as the second end of the first link member is made to advance and retract along the advance and retraction axis through movement of the first manipulating member, a distance between the third rotation axis center and the advance and retraction axis is shorter than a length of a distance between a fifth rotation axis center where the first treatment tool piece rotates about the rotation shaft and the third rotation axis center,
wherein a length prescribed by projecting a line segment connecting the first rotation axis center and the fifth rotation axis center on the advance and retraction axis is shorter than a length prescribed by projecting a line segment connecting the third rotation axis center and the fifth rotation axis center,
wherein as the second end of the second link member is made to advance and retract along the advance and retraction axis through movement of the second manipulating member, a distance between the fourth rotation axis center and the advance and retraction axis is shorter than a length of a distance between the fifth rotation axis center and the fourth rotation axis center, and
wherein a length prescribed by projecting a line segment connecting the second rotation axis center and the fifth rotation axis center on the advance and retraction axis is shorter than a length prescribed by projecting a line segment connecting the fourth rotation axis center and the fifth rotation axis center.

2. The medical treatment tool according to claim 1 ,
wherein the first treatment tool piece and the second treatment tool piece are rotatably supported with respect to the substrate,
wherein the first treatment tool piece is coupled with the first manipulating member via the first link member, and
wherein the second treatment tool piece is coupled with the second manipulating member via the second link member.

3. The medical treatment tool according to claim 2 ,
wherein the first link member coupled to the first treatment tool piece and the first link member coupled to the second treatment tool piece are coupled to the first manipulating member via one first connection rotation shaft at the respective second ends thereof, and
wherein the second link member coupled to the first treatment tool piece and the second link member coupled to the second treatment tool piece are coupled to the second manipulating member via one second connection rotation shaft at the respective second ends thereof.

4. The medical treatment tool according to claim 2 ,
wherein the substrate comprises a first guide that extends parallel to the advance and retraction axis and a second guide that extends parallel to the advance and retraction axis,
wherein the first manipulating member is supported so as to be movable along the first guide, and
wherein the second manipulating member is supported so as to be movable along the second guide.

5. The medical treatment tool according to claim 1 , further comprising:
a wire which has a first end coupled to the first manipulating member and a second end coupled to the second manipulating member; and
a wire driving part in which the wire is wound,
wherein the wire driving part is configured to move the first manipulating member to advance and retract parallel to the advance and retraction axis and to move the second manipulating member to advance and retract parallel to the advance and retraction axis.

6. The medical treatment tool according to claim 1 , further comprising:
a rack-and-pinion driving part comprising a first rack, a second rack, and a pinion engaged with the first rack and the second rack, and that drives to advance and retract the first rack and the second rack in mutually opposite directions by a rotation of the pinion;
a first wire that couples the first rack and the first manipulating member; and
a second wire that couples the second rack and the second manipulating member,
wherein the first and second wires are configured to be driven to advance and retract by the rack-and-pinion driving part to move the first manipulating member parallel to the advance and retraction axis and move the second manipulating member parallel to the advance and retraction axis.

7. The medical treatment tool according to claim 5 , further comprising:
a tension application portion configured to apply tension to the wire, wherein the tension application portion is provided in a middle of the wire.

8. A manipulator comprising:
the medical treatment tool according to claim 1 .

Assignees

• Olympus Corp

Inventors

• Hyodo Ryoji
• Kishi Kosuke

Classifications

• A61B34/71 Primary

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• A61B2017/2919

  details of linkages or pivot points · CPC title

• A61B2017/2938

  Independently actuatable jaw members, e.g. two actuating rods · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2017/2923

  Toothed members, e.g. rack and pinion · CPC title