Medical device

There is provided a medical device whose occupied space is reduced. According to an aspect of the present invention, a medical device (1) adjusts a position of a medical instrument including a rod-like insertion unit (201) for being inserted into a body. The medical device includes an ultrasonic actuator that holds the insertion unit of the medical instrument, and that displaces or rotates the insertion unit with respect to the ultrasonic actuator, and an actuator fixing unit (101 and 102) that fixes a position of the ultrasonic actuator to a surgical site.

TECHNICAL FIELD

The present invention relates to a medical device.

BACKGROUND ART

In a celoscope surgery (laparoscopic surgery or thoracoscopic surgery), a surgical procedure is performed in such a way that an endoscope (for example, a rigid endoscope) and a manipulator (or forceps) are inserted after make a few small holes into a patient's abdomen while an operator observes an image displayed on a monitor of the endoscope. This celoscope surgery does not need laparotomy. Accordingly, a patient is less burdened, and it is possible to considerably reduce the number of days required until the patient is recovered after surgery or is discharged from a hospital. Therefore, it is expected that an application field of the celoscope surgery is enlarged.

On the other hand, in the celoscope surgery, it is necessary to insert multiple medical instruments into the patient's body through an opening punctured on the patient's body surface. Therefore, for example, persons or the medical instruments extracorporeally come into contact with and interrupted by each other, thereby causing a problem in that forceps and an endoscopic camera come into contact with each other and imposing significant restrictions on an operation of a medical device.

For example, in order to solve the above-described problem, PTL 1 discloses a medical robot system which can avoid mutual interference between arms for moving the respective medical instruments while visibility suitable for a user is ensured.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

However, although the medical robot system disclosed in PTL 1 can avoid mutual interference between the arms, the overall system for using a surgical robot increases in size and becomes expensive. In a robot arm, a position of the manipulator inside a patient's body functions as a fixed point. Accordingly, a movable range of the robot arm increases inevitably outside the patient's body. Therefore, it is difficult to secure a space which allows an operator to perform smooth medical treatment in the vicinity of the patient.

The present invention is made in view of the above-described problem, and an object thereof is to provide a medical device whose occupied space is reduced.

Solution to Problem

According to an aspect of the present invention, in order to solve the above-described problem, there is provided a medical device which adjusts a position of a medical instrument provided with a rod-shaped insertion unit for inserting the medical instrument into a body. The medical device includes an actuator that holds the insertion unit of the medical instrument, and that displaces or rotates the insertion unit to the actuator, and an actuator fixing unit that fixes a position of the actuator to a surgical site. The actuator holds the insertion unit at respective contact points on a plurality of housings connected so as to be openable and closeable and having restoring force applying in a direction where the plurality of housings are closed together.

Advantageous Effects of Invention

According to the aspect of the present invention, it is possible to provide a medical device whose occupied space is reduced.

DESCRIPTION OF EMBODIMENTS

Overview of Medical Device

FIG. 1is a schematic diagram illustrating a schematic configuration of a medical device1according to an embodiment of the present invention. In the present embodiment, as an example to which the present invention is applicable, a situation is assumed where an insertion unit (sheath tube)201of a rigid endoscope200is inserted into an abdominal cavity of an abdomen511of a patient510lying on an operating table400so that a surgeon500performs treatment based on an image obtained therefrom.

InFIG. 1, the medical device1includes an insertion unit conveyance unit100, a flexible arm (actuator fixing unit)101, a stand (actuator fixing unit)102, a surgical port103, a controller unit (control device)130, and the rigid endoscope200. Details of the insertion unit conveyance unit100and the controller unit130will be described later. The medical device1adjusts a position of the rigid endoscope200.

In the flexible arm101, the insertion unit conveyance unit100is fixed to and supported by one end thereof. The flexible arm101can be bent by a hand so as to have a desired shape. That is, the insertion unit conveyance unit100is arranged at and fixed to a desired position of the surgeon500by using the flexible arm101.

The stand102fixes the other end of the flexible arm101, thereby fixing the flexible arm101to a side of the patient510lying on the operating table400. The stand102is installed in (fixed to) the operating table400.

The surgical port103is a medical instrument having a through-hole for inserting a medical instrument into an abdominal cavity of the patient510, and is arranged on a surface of the abdomen511of the patient510. The surgical port103is not indispensably used depending on an operative procedure, and is not an indispensable configuration element in the present embodiment.

In the present embodiment, the rigid endoscope200having a cylindrical (rod-like) insertion unit201is used as an example of the medical instrument, but a configuration is not limited thereto. Instead of the rigid endoscope200, it is possible to use a medical instrument having a rod-like (columnar) insertion unit for inserting the medical instrument into a body of the patient510. For example, those which have a surgical instrument such as forceps disposed in a distal end of the columnar insertion unit or a columnar catheter serving as the insertion unit can be used as the medical instrument.

(Configuration of Insertion Unit Conveyance Unit)

FIG. 2is a perspective view illustrating a schematic configuration of the insertion unit conveyance unit100. As illustrated inFIG. 2, the insertion unit conveyance unit100includes an actuator holding unit (actuator fixing unit)109and an ultrasonic actuator (actuator, friction drive actuator)110.

The actuator holding unit109is a hollow housing which holds the ultrasonic actuator110, and an end of the flexible arm101is fixed to a side surface of the actuator holding unit109. The actuator holding unit109, the flexible arm101, and the stand102configure an actuator fixing unit for fixing the ultrasonic actuator110to the vicinity of a surgical site.

FIG. 3is a perspective view illustrating a schematic configuration of the ultrasonic actuator110. As illustrated inFIG. 3, the ultrasonic actuator110includes a housing111, a housing112, a stay113disposed on an inner surface of the housing111, an ultrasonic vibrator (friction drive element)114fixed to the housing111via the stay113, and two ball bearings (sliding bodies)115fixed to an inner surface of the housing112. The housing111and the housing112are connected so as to be openable and closeable. The ultrasonic actuator110conveys the insertion unit201of the rigid endoscope200to the vicinity of the surgical site in a state where the actuator holding unit109fixes a position for the surgical site of a body lumen.

The housing111and the housing112have a restoring force applied in a direction where both of these are closed together by a preloading spring (restoring member)116. When the housing111and the housing112are closed together, both of these configure an annular housing. When the housing111and the housing112are closed together, the restoring force of the preloading spring116presses the ultrasonic vibrator114and the two ball bearings115against a side surface of the insertion unit201. That is, the rigid endoscope200is held in a direction perpendicular to an axial direction of the insertion unit201by the ultrasonic vibrator114and the two ball bearings115(refer toFIG. 2). When the housing111and the housing112are opened away from each other, the ultrasonic vibrator114and the ball bearing115are moved away from each other. Accordingly, the insertion unit201is released from the ultrasonic vibrator114.

Here, the two ball bearings115respectively come into point contact with a side surface of the rigid endoscope200. Therefore, if elastic deformation is considered in each contact portion of a projection45and the two ball bearings115, in order to hold the rigid endoscope200, it is necessary to dispose at least two restricting locations in a direction perpendicular to the axial direction of the insertion unit201. For example, it is conceivable to hold another location of the rigid endoscope200by newly disposing three ball bearings115on an inner surface of the actuator holding unit109. Here, in order to facilitate the description, the three ball bearings disposed on the inner surface of the actuator holding unit109are not illustrated.

FIG. 4is a perspective view illustrating a schematic configuration of the ultrasonic vibrator114. As illustrated inFIG. 4, the ultrasonic vibrator114includes the stay113, a vibrator40, the projection45, piezoelectric elements41to44, upper electrodes41ato44a, and lower electrodes41bto44b.

The stay (holding unit)113is a rod-like member, and a distal portion thereof has a key48for preventing the rotation of the ultrasonic vibrator114.

The vibrator40is a hollow prism made of stainless steel, and a cross-sectional shape thereof is a substantially square shape. The hollow portion (cavity) extends along an axis of the columnar vibrator40, and penetrates the vibrator40. A narrow portion46is formed on an inner surface of the vibrator40which defines the hollow portion. The inner surface of the vibrator40defines a first cavity and a second cavity whose diameter is narrower than that of the first cavity.

The narrow portion46defines the second cavity in the vibrator40. A key groove having a shape corresponding to the distal portion of the stay113is disposed in the narrow portion46in order to prevent the rotation of the vibrator40. The key48is fitted to the key groove, thereby fixing the vibrator40to the housing111via the stay113. The fitting portion (narrow portion46) is located at a position corresponding to a node of two vibrations (to be described later, standing wave vibrations). Accordingly, the fitting portion does not hinder the vibrations.

In the present embodiment, the narrow portion46is disposed in the vicinity of the center of the hollow portion of the vibrator40. However, the narrow portion46may be disposed at any position where the vibrator40can be fixed to the housing111, and a configuration is not limited thereto.

The projection45is a truncated cone-shaped member disposed on a distal surface of the vibrator40, and an end surface thereof comes into line contact with the side surface of the insertion unit201. Here, as an example, the projection45is a brass-made product in which a diameter of a truncated cone bottom surface is 1.8 mm, a diameter of an upper surface is 0.8 mm, and a truncated cone height is 0.5 mm. However, a shape and a material of the projection45are not limited to the above-described configuration. The end surface of the projection45may be a convex surface, and the projection45and the insertion unit201may be brought into point contact with each other.

The distal end of the columnar vibrator40is pressed against the side surface of the columnar insertion unit201(operation element) via the projection45. The axis of the columnar vibrator40(longitudinal direction) and the axis of the columnar insertion unit201(longitudinal direction) are orthogonal to each other. The distal end of the vibrator40may be directly brought into contact with the insertion unit201by omitting the projection45.

The piezoelectric elements41to44are plate-like elements having a property of generating a stress change if a voltage is applied thereto, and are installed on (fixed to) each side surface of the vibrator40. A material of the piezoelectric elements41to44is ceramic or crystal.

The upper electrodes41ato44aand the lower electrodes41bto44bare installed on (fixed to) a surface opposite to the surface where the piezoelectric elements41to44are installed in the vibrator40. The planar upper electrodes41ato44aare disposed so as to cover an upper half (projection45side from the narrow portion46) of the piezoelectric elements41to44. The planar lower electrodes41bto44bare disposed so as to cover a lower half of the piezoelectric elements41to44. The upper electrode and the lower electrode which are disposed in one piezoelectric element are arranged parallel to each other along the axis of the vibrator40(longitudinal direction). The upper electrode and the lower electrode which are disposed in one piezoelectric element are separated so that both of these are not electrically connected to each other.

A voltage is supplied to the electrode (the upper electrodes41ato44aor the lower electrodes41bto44b), thereby expanding and contracting a portion corresponding to the electrode in the piezoelectric elements41to44. In this manner, the piezoelectric elements41to44are vibrated. For example, in one piezoelectric element41, a portion corresponding to the upper electrode41aand a portion corresponding to the lower electrode41bare differently vibrated. Therefore, the upper electrode41aand a portion corresponding to the upper electrode41ain the piezoelectric element41correspond to a first vibration generation element. The lower electrode41band a portion corresponding to the lower electrode41bin the piezoelectric element41correspond to a different second vibration generation element. The piezoelectric elements may be separated from each other so as to correspond to the upper electrode and the lower electrode.

It is desirable to perform waterproofing treatment for wiring to each electrode and the controller unit130(to be described later). The ultrasonic vibrator114is minutely deformed in a ppm level. Accordingly, it is possible to employ a general waterproof coating method.

As illustrated inFIG. 1, the controller unit130includes an instruction input unit131, a drive signal generation unit (voltage supply unit, operation instruction unit)132, and a battery133which supplies power thereto. The controller unit130is detachably connected to the insertion unit conveyance unit100by a cable passing through the stand102and the flexible arm101.

The instruction input unit131is an input device for inputting an instruction of an operator (user), for example, an input device such as a joystick. For example, the operator manually tilts the joystick to the right and left or back and forth, thereby inputting the instruction to convey (displace or rotate) the insertion unit201of the rigid endoscope200. The instruction input unit131outputs the input instruction of the operator to the drive signal generation unit132. For example, the input instruction of the operator designates a moving direction and a moving speed of the insertion unit201.

Based on the input instruction of the operator, the drive signal generation unit132generates a drive signal for exciting a desired vibration in the piezoelectric elements41to44, and applies the drive signal to the corresponding piezoelectric element. The drive signal is an alternating voltage. The drive signal generation unit132determines a phase difference between two drive signals in accordance with the moving direction. The drive signal generation unit132determines the amplitude of the voltage of the drive signal or a duty ratio of the drive signal in accordance with the moving speed.

In a case where the input instruction of the operator indicates a forward movement or a rearward movement of the insertion unit201, the drive signal generation unit132generates a drive signal to be supplied to each electrode of the piezoelectric elements42and44which oppose each other. In a case where the input instruction of the operator indicates the rotation of the insertion unit201, the drive signal generation unit132generates a drive signal to be supplied to each electrode of the piezoelectric elements41and43which oppose each other.

(Conveyance Principle of Ultrasonic Vibrator)

Next, a conveyance principle of the ultrasonic vibrator114will be described in detain with reference toFIGS. 5 to 9. In order to facilitate the description, the projection45side of the ultrasonic vibrator114is referred to as an upper side, and the stay113side is referred to as a lower side.

FIG. 5is an exploded perspective view illustrating the ultrasonic vibrator114and a voltage supplied thereto. InFIG. 5, in order to facilitate the description, the illustration of the piezoelectric elements41and43is omitted. The drive signal generation unit132supplies respective alternating voltages mutually having different phase to each of two electrodes of the piezoelectric elements41to44. The drive signal generation unit132fixes a voltage of the stay113to a reference voltage (here, 0 V). The stay113, the key48, and the vibrator40are conductive members, and thus, the vibrator40is fixed to 0 V.

A drive signal common to the lower electrode on the opposing piezoelectric element is supplied to the upper electrode on each piezoelectric element. For example, a common alternating voltage Va is supplied to the upper electrode42aof the piezoelectric element42and the lower electrode44bof the piezoelectric element44. A portion corresponding to the upper electrode42aof the piezoelectric element42is deformed (expands and contracts) in accordance with the applied voltage Va.

A common alternating voltage Vb is supplied to the lower electrode42bof the piezoelectric element42and the upper electrode44aof the piezoelectric element44. A portion corresponding to the lower electrode42bof the piezoelectric element42is deformed (expands and contracts) in accordance with the applied voltage Vb.

FIG. 6is a view illustrating the alternating voltages Va and Vb, and a time change in the ultrasonic vibrator114. The upper side inFIG. 6indicates a state of the ultrasonic vibrator114corresponding to respective periods of time T1to T4. InFIG. 6, (+) and (−) of the piezoelectric elements42and44indicate portions corresponding to the electrodes to which a voltage of each polarity is applied.FIG. 7is a perspective view illustrating an expanding/contracting vibration mode L1of the vibrator40.FIG. 8is a perspective view illustrating a third bending vibration mode B3of the vibrator40. InFIGS. 7 and 8, a dark shade (black) portion indicates a less deformed portion in the vibrator40, and a bright shade (white) portion indicates a much deformed portion in the vibrator40. As illustrated inFIGS. 7 and 8, a central portion of the vibrator40corresponds to the node of the vibrations.FIG. 9is a side view illustrating a movement state of the vibrator40.

As illustrated inFIG. 6, Va and Vb are the alternating voltages of ±24 V, in which phases are different as large as 90°. When a positive polarity voltage is applied to the piezoelectric elements42and44, the piezoelectric elements42and44expand in the direction along the axis of the vibrator40(direction to the insertion unit201). When a negative polarity voltage is applied to the piezoelectric elements42and44, the piezoelectric elements42and44contract in the direction along the axis of the vibrator40. The piezoelectric elements42and44adhere to the vibrator40. Accordingly, a portion corresponding to the piezoelectric elements42and44in the vibrator40(portion to which the piezoelectric elements adhere) expand or contract similarly. As a result, during the periods of time T1and T3while the two alternating voltages Va and Vb are the same polarity, the expanding/contracting vibration mode L1(refer toFIG. 7) of the vibrator40is excited. During the periods of time T2and T4while the two alternating voltages Va and Vb are respectively different polarities, the third bending vibration mode B3(refer toFIG. 8) of the vibrator40is excited. If an aspect ratio (width:height) of the square prism-shaped vibrator40is 1:4, the resonance frequencies of the expanding/contracting vibration mode L1and the third bending vibration mode B3are substantially coincident with each other.

The expanding/contracting vibration mode L1and the third bending vibration mode B3are excited using the same frequency, thereby deforming the vibrator40as illustrated inFIG. 6during one cycle (periods of time T1to T4). The vibration excited in each vibration mode is a standing wave vibration in which a position of the node does not vary. The narrow portion46of the vibrator40is positioned at a location corresponding to the node of the standing wave vibration (location corresponding to a portion between the upper electrode and the lower electrode).

Specifically, during the period of time T1, the vibrator40expands. The projection45is displaced (linearly moved) to the insertion unit201side. During the period of time T2, the vibrator40is bent. The projection45is displaced to the piezoelectric element42side. During the period of time T3, the vibrator40contracts. The projection45is displaced in a direction away from the insertion unit201. During the period of time T4, the vibrator40is bent to a side opposite to that during the period of time T2. The projection45is displaced to the piezoelectric element44side.

As a result, as illustrated by an arrow inFIG. 9, the projection45arranged in the distal end of the vibrator40is elliptically moved. The end surface of the projection45is pressed against the side surface of the insertion unit201by the preloading spring116. Therefore, the alternating voltages Va and Vb are applied to a set of the piezoelectric elements42and44, the insertion unit201of the rigid endoscope200is conveyed along an inward direction of a patient due to friction with the projection45. If the reference numerals of the alternating voltages Va and Vb are reversed, the insertion unit201is conveyed in the opposite direction. If the alternating voltages Va and Vb are applied to the piezoelectric elements41and43arranged along a circumferential direction of the axis of the insertion unit201, the insertion unit201is rotated around the axis. In this way, the single ultrasonic vibrator114can selectively convey the insertion unit201in two directions (displacement (linear movement) direction and rotation direction).

The phase difference between the two alternating voltages Va and Vb determines the moving direction (rotation direction), and the amplitude (or the duty ratio) between the two alternating voltages Va and Vb determines the moving speed (rotation speed). In this way, the drive signal (alternating voltage) generated by the drive signal generation unit132can reflect the instruction of the operator as the operation of the rigid endoscope200.

In the present embodiment, the two the piezoelectric elements are caused to oppose each other, thereby exciting the expanding/contracting vibration mode L1and the third bending vibration mode B3. However, for example, the similar vibration may be excited by using only the piezoelectric elements41and42. However, the present embodiment employs a good symmetrical configuration. Accordingly, unnecessary vibrations other than the expanding/contracting vibration mode L1and the third bending vibration mode B3are less likely to be excited. Therefore, according to the present embodiment, it is possible to improve energy efficiency.

Application Example

As an application example, the vibrator40employs the stainless-made hollow square prism having a square cross section whose one side is 2 mm and whose height is 8 mm. The hollow portion has a cylindrical shape whose diameter is 1.6 mm. The axis of the hollow portion and the axis of the square prism are coincident with each other. The piezoelectric elements41to44employ commercially available hardware-based PZT (PZT-5H: lead-zirconium-titanium) having a rectangular shape whose thickness is 0.2 mm, short side is 2 mm, and long side is 8 mm.

As a result, the resonance frequencies of the expanding/contracting vibration mode L1and the third bending vibration mode B3are all approximately 280 kHz, and are coincident with each other. In this manner, the resonance is excited in the ultrasonic vibrator114. Therefore, it is possible to realize the conveyance (displacement and rotation) of the insertion unit201.

Advantageous Effect

the medical device1according to the present embodiment can cause the insertion unit201of the rigid endoscope200serving as the medical instrument to be displaced in the axial direction of the insertion unit201and to rotate around the axis of the insertion unit201. The rigid endoscope200can view one side surface direction of the insertion unit201. Accordingly, the rigid endoscope200can view any desired location inside a body lumen by using the medical device1. In this manner, an operator (or a surgeon) van view any desired location inside the body lumen via the rigid endoscope200.

The medical device1fixes the position of the ultrasonic actuator110by using the insertion unit conveyance unit100and the flexible arm101. The insertion unit201of the rigid endoscope200is driven by the ultrasonic actuator110so as to be biaxial with respect to the ultrasonic actuator110. Therefore, it is possible to minimize a space occupied by the medical device1. Accordingly, compared to a medical robot system in the related art, the medical device1can secure a considerably wide working space for the surgeon500.

For example, according to the ultrasonic actuator in the related art in which the periphery of an operation element is surrounded with a stator, a through-hole of the stator comes into contact with the entire periphery of the operation element. Thus, it is necessary to accurately machine the operation element and the stator. According to another actuator in the related art in which the operation element is conveyed using multiple rollers, in a case where dirt (blood) adheres to the operation element, there is a possibility that the friction force may be unevenly generated between the multiple rollers. The force transferred to the operation element is uneven, thereby causing a possibility of an unexpected movement.

The ultrasonic actuator110according to the present embodiment adopts a configuration in which the distal end (projection45) of the single ultrasonic vibrator114is pressed against the side surface of the insertion unit201serving as the operation element in one direction. Therefore, machining tolerance can be greatly set in the ultrasonic actuator110. Moreover, the ultrasonic actuator110can be easily machined and assembled. The ultrasonic vibrator114is pressed against the side surface of the insertion unit201in one direction. Accordingly, even in a case where dirt adheres to the insertion unit201, a poor operation is less likely to occur.

Modification Example

According to the present embodiment, the actuator arranged in the vicinity of the treatment site (position of the surgical port103) of the patient510drives the medical instrument (rigid endoscope200). This reduces a space for arranging the robot arm in the related art or the endoscopic operation assistant. Each configuration element according to the present embodiment can be appropriately replaced depending on compatibility with a surgical procedure or technical progress.

For example, in the present embodiment, the actuator employs an ultrasonic motor using the ultrasonic vibrator. However, it is also possible to employ an actuator driven using air pressure or electromagnetic force.

With regard to the controller unit, the instruction input unit131is not limited to the joystick. For example, a semi-automatic controller can also be employed in which the operation is performed based on the position of each site calculated in accordance with an absolute position after instructing the absolute position by pointing the position on a screen.

Furthermore, if a difference in the friction force does not affect function achievement to some extent, a configuration can also be adopted in which the ball bearing115is replaced with a sliding body such as a fluorine resin pad. As a matter of course, the number, an arrangement, and a shape of the sliding bodies are not limited to the present embodiment as long as these do not hinder the conveyance of the insertion unit201.

Without being limited to the square prism, the vibrator40may have a columnar shape having at least one side surface (plane). Multiple vibration generation elements may be disposed on one side surface so as to parallel to each other along the axis (longitudinal direction) of the columnar vibrator.

A vibration mode used as conveying force of the ultrasonic actuator, an electrode shape for exciting the vibration mode, and an applied voltage pattern can be appropriately modified depending on a type of the medical instrument to be conveyed, and are not limited to the present embodiment.

The ultrasonic actuator110can be used in order to convey (displace or rotate) any columnar operation element, in addition to the insertion unit of the medical instrument.

Another embodiment according to the present invention will be described as follows with reference toFIGS. 10 to 12. In order to facilitate the description, the same reference numerals will be given to members having the same function as the members described in Embodiment 1, and description thereof will be omitted.

(Outline of Medical Device)

FIG. 10is a schematic diagram illustrating a schematic configuration of a medical device2according to the present embodiment.

As illustrated inFIG. 10, the medical device2according to the present embodiment is different from the medical device1according to Embodiment 1 in that a pneumatic bending actuator610is used as the medical instrument, and in that there is provided an air pump (bending drive device)630for bending the pneumatic bending actuator610. The medical device2according to the present embodiment is different from the medical device1according to Embodiment 1 in that the controller unit130gives an operation instruction to not only the ultrasonic actuator but also the air pump630.

As illustrated inFIG. 11, the pneumatic bending actuator610according to the present embodiment includes an expandable tube611having a hollow and cylindrical shape, a camera210, and a pipe620serving as the insertion unit.

The camera210is fixed to an end of the tube611. The hollow and cylindrical-shaped pipe620is connected to and communicates with the other end of the tube611. The tube611is a resilient member, but a partial wall surface (lower side inFIG. 11) of the tube611has non-elastic portion612whose rigidity is stronger than that of the other wall surface. For example, as a material of the tube611, silicone is used.

The camera210transmits an image in the vicinity of a surgical site which is captured by a video output device (not illustrated), via a signal line211passing through the tube611.

As a material of the pipe620, a rigid material, for example, an acrylic resin is used so that the pipe620is not bent even if air is supplied thereto. Since the signal line211passes through the hollow portion, the pipe620has a role as not only an air supply passage but also a signal line accommodation housing.

Elasticity of the non-elastic portion612may be lower than that of other portions of the tube611. The elasticity may be set such an extent that the tube611expands on the opposite side to the non-elastic portion612and the tube611does not expand on the non-elastic portion612side.

For example, as a material of the non-elastic portion612, a non-elastic yarn such as a glass fiber or a polyamide fiber may be used, or silicone which is the same material as that of the tube611may be used.

The tube611receives air supply from the air pump630via the pipe620. In response to an increase in the air pressure, the opposite side to the non-elastic portion612side of the tube611expands. On the other hand, the non-elastic portion612side does not expand. Accordingly, as illustrated inFIG. 12, the tube611is bent to the non-elastic portion612side.

Advantageous Effect

As described above, according to the present embodiment, the camera210enables ensured visibility in a bending direction of the tube611in addition to the axial direction of the pipe620(insertion unit) and the rotation direction around the axis.

Therefore, the surgeon500can observe the surgical site inside the body lumen in more directions. Accordingly, the surgeon500can select the more preferable angle when observing the surgical site.

Modification Example

In the present embodiment, a case where the non-elastic portion612is disposed in the main body of the tube611has been described as an example. However, without being limited to the present embodiment, the non-elastic portion612may be shared with the signal line211. Furthermore, the signal line211shared with the non-elastic portion612may be fixed to the outer side of the tube611instead of the inner side of the tube611.

Further another embodiment according to the present invention will be described as follows with reference toFIG. 13. In order to facilitate the description, the same reference numerals will be given to members having the same function as the members described in Embodiments 1 and 2, and description thereof will be omitted.

(Overview of Medical Device)

FIG. 13is a schematic diagram illustrating a schematic configuration of a medical device3according to the present embodiment.

As illustrated inFIG. 13, the medical device3according to the present embodiment is different from the medical device according to Embodiments 1 and 2 in that the controller unit is a radio controller unit140.

(Configuration of Radio Controller)

As illustrated inFIG. 13, the radio controller unit140includes a unit main body145and an operation instruction unit146.

The unit main body145includes an instruction input unit141, a transmitter147which transmits a signal corresponding to an operation amount in longitudinal and lateral directions of the instruction input unit141, and a first battery (electric cell)143which supplies power to both of these.

The operation instruction unit146includes a receiver148, an operation instruction unit142, and a second battery (electric cell)144. The receiver148receives the signal transmitted from the transmitter147. The operation instruction unit142generates a drive signal in accordance with the signal received by the receiver148, and supplies the drive signal to the insertion unit conveyance unit100. The second battery144supplies power to the receiver148and the operation instruction unit142.

The operation instruction unit146is installed in (fixed to) the operating table400, and an end of the flexible arm101is fixed to an upper end surface of the operation instruction unit146. That is, the operation instruction unit146also functions as the stand (actuator fixing unit)102according to Embodiments 1 and 2.

In accordance with an operation of the instruction input unit141which is performed by an operator (not illustrated), the operation instruction unit142generates a drive signal corresponding to the alternating voltage, and transmits the drive signal to the upper electrode and the lower electrode. In this manner, an operation instruction can be transmitted to the ultrasonic actuator110by means of radio communication.

In the radio controller unit140, in some cases, an obstacle such as the surgeon500may be interposed between the unit main body145and the operation instruction unit146. A radio communication wave needs to have a band which can be freely used by an operator without any license. In a viewpoint of power consumption, it is desirable to use Bluetooth (BT: registered trademark) in which radio communication means can be utilized even if there is an obstacle between radio communication devices, in which a radio wave having the band which can be freely used without any license is used, and in which low power consumption is required.

Advantageous Effect

As described above, according to the present embodiment, the operation instruction is transmitted to the ultrasonic actuator by means of the radio communication. Accordingly, it is possible to more widely secure a working space for the surgeon500. Therefore, the surgeon500can more smoothly perform medical treatment.

As a matter of course, the above-described advantageous effect can also be achieved in a case of employing any medical instrument (insertion unit) according to Embodiments 1 and 2.

Modification Example

According to the present embodiment, a signal input from an operation unit such as the instruction input unit141is directly transmitted to the operation instruction unit146by the unit main body145. However, an essential point of the medical device3according to the present embodiment is that information provided for the instruction input unit141by an operator is reflected in the operation of the ultrasonic actuator by means of the radio communication. Therefore, as long as a configuration realizes this essential point, a form of the radio communication does not matter.

Further another embodiment according to the present invention will be described as follows with reference toFIG. 14. In order to facilitate the description, the same reference numerals will be given to members having the same function as the members described in Embodiments 1 to 3, and description thereof will be omitted.

FIG. 14is a schematic diagram illustrating a schematic configuration of an insertion unit conveyance unit107according to the present embodiment. As illustrated inFIG. 14, the insertion unit conveyance unit107according to the present embodiment is different from the insertion unit conveyance unit100according to Embodiments 1 to 3 in that a trocar700is used as the actuator holding unit109.

The trocar700is a medical instrument for inserting a surgical instrument into a body lumen of a patient, and is generally used in surgery using the rigid endoscope. As illustrated inFIG. 14, the trocar700includes a cylindrical trocar housing701and a hollow needle702.

The trocar housing701is a hollow housing which secures an enough space in which the ultrasonic actuator110can be internally incorporated. The trocar housing701holds the ultrasonic actuator110.

The needle702is a cylindrical member having an enough hollow portion through which the insertion unit201of the rigid endoscope can penetrate. The outer diameter is smaller than the diameter of a through-hole103aof the surgical port103. An end of the needle702is connected to and communicates with an end of the trocar housing701. The needle702is inserted into the surgical port103from the through-hole103a. In this manner, the needle702is fixed to the surgical port103. The medical device3may separately include a fixing portion for fixing the trocar700to the surgical port103. For example, a corresponding engagement portion may be disposed in the trocar700and the surgical port103.

Here, an external terminal710is installed on a side surface of the trocar housing701. The controller unit and the insertion unit conveyance unit107are electrically connected to each other through the external terminal710.

The trocar700can employ those which are generally used in the medical field, as long as the trocar housing701secures an enough space in which the ultrasonic actuator110can be incorporated.

Advantageous Effect

As described above, according to the present embodiment, the trocar700is fixed to the surgical port103, thereby fixing the ultrasonic actuator110incorporated in the trocar housing701to a surgical site. Therefore, it is not necessary to use the flexible arm101and the stand102. Accordingly, it is possible to more widely secure a working space for the surgeon500. Therefore, the surgeon500can more smoothly perform medical treatment.

As a matter of course, the above-described advantageous effect can also be achieved in a case of employing any medical instrument (insertion unit) according to Embodiments 1 and 2.

Modification Example

An important characteristic of the insertion unit conveyance unit107according to the present embodiment is that the ultrasonic actuator110is fixed to the trocar700arranged in the vicinity of a surgical site. Therefore, for example, the ultrasonic actuator110does not need to be incorporated in the trocar housing701. A configuration may be adopted in which the ultrasonic actuator110is installed in an end of the trocar housing701.

It is not always necessary to use the surgical port103, and the surgical port103can be omitted.

Further another embodiment according to the present invention will be described as follows with reference toFIG. 15. In order to facilitate the description, the same reference numerals will be given to members having the same function as the members described in Embodiments 1 to 4, and description thereof will be omitted.

FIG. 15is a schematic diagram illustrating a schematic configuration of a medical device4according to the present embodiment. The medical device4includes the unit main body145and the operation instruction unit146. As illustrated inFIG. 15, an insertion unit conveyance unit108according to the present embodiment is different from the insertion unit conveyance unit107according to Embodiment 4 in that the operation instruction unit146is connected to a side surface of the trocar housing701by a connector730disposed on a side surface of the operation instruction unit146.

The operation instruction unit146drives the ultrasonic actuator110included in the trocar700, based on the instruction received from the unit main body145of the radio controller unit by means of the radio communication.

The connector730and the operation instruction unit146are attachable to and detachable from the trocar700.

Advantageous Effect

As described above, according to the present embodiment, it is possible to detach the operation instruction unit146for mounting a semiconductor component which is vulnerable to a high temperature. Therefore, the trocar700alone can be subjected to sterilization treatment, particularly, sterilization treatment using the high temperature, such as autoclave sterilization (high pressure steam sterilization). Therefore, it is possible to more reliably sterilize and clean the trocar700.

It is unnecessary to consider heat resistance for the operation instruction unit146. Accordingly, a general semiconductor component can be used, and thus, it is possible to manufacture the operation instruction unit146at low cost.

The operation instruction is transmitted to the ultrasonic actuator110by means of the radio communication. Therefore, the present embodiment can also obtain the same advantageous effect as that according to Embodiment 3.

CONCLUSION

According to Aspect 1 of the present invention, there is provided the medical device (1 to 4) which adjust a position of the medical instrument (rigid endoscope200) including the rod-like insertion unit (201) for inserting the medical instrument into the body. The medical device includes the actuator (ultrasonic actuator110and pneumatic bending actuator610) that holds the insertion unit of the medical instrument, and that displaces or rotates the insertion unit with respect to the actuator, and the actuator fixing unit (for example, the flexible arm101, the stand102, the actuator holding unit109, the operation instruction unit146which also serves as the stand, or the trocar700) that fixes the position of the actuator.

According to the above-described configuration, the actuator holding the insertion unit of the medical instrument is fixed to a surgical site. Accordingly, it is possible to provide the medical device whose occupied space is reduced. According to the above-described configuration, compared to the medical robot system using the surgical robot, it is possible to manufacture the medical device at low cost.

In the medical device according to Aspect 2 of the present invention, in Aspect 1 described above, the actuator fixing unit may be configured to include the trocar (700).

According to the above-described configuration, it is not necessary to use the flexible arm the stand. Accordingly, it is possible to more widely secure a working space for an operator. Therefore, the operator can more smoothly perform medical treatment.

In the medical device according to Aspect 3 of the present invention, in Aspect 1 or 2 described above, the above-described actuator may be configured to displace the insertion unit in the axial direction of the insertion unit (201).

According to the above-described configuration, while the medical device whose occupied space is reduced is realized, the medical instrument can have suitable access to a surgical site in the axial direction of the insertion unit.

In the medical device according to Aspect 4 of the present invention, in any one of Aspects 1 to 3 described above, the actuator may be configured to rotate the insertion unit by using the rod-like insertion unit as the rotation axis.

According to the above-described configuration, while the medical device whose occupied space is reduced is realized, the medical instrument can have suitable access to a surgical site in the rotation direction of the insertion unit which uses the insertion unit itself as the rotation axis.

In the medical device according to Aspect 5 of the present invention, in any one of Aspects 1 to 4 described above, a configuration may be adopted which includes the bending drive device (air pump630) for bending the insertion unit.

According to the above-described configuration, while the medical device whose occupied space is reduced is realized, the medical instrument can have suitable access to a surgical site in the bending direction of the tube configuring the insertion unit.

In the medical device according to Aspect 6 of the present invention, in any one of Aspects 1 to 5 described above, the actuator may be configured to include the friction drive element (ultrasonic vibrator114) which displaces or rotates the insertion unit by using the friction with the surface of the insertion unit.

According to the above-described configuration, compared to the actuator which does not include the friction drive element, it is possible to minimize the contact area between the actuator and the insertion unit. Therefore, it is possible to reduce a possibility that the actuator may be poorly operated in a case where liquids such as blood and contaminants enter the contact portion between the actuator and the insertion unit.

According to the above-described configuration, compared to the actuator which does not include the friction drive element, it is possible to minimize the friction force generated in the contact portion between the actuator and the insertion unit, when the medical instrument is detached therefrom. Therefore, it is possible to easily replace and clean the medical instrument.

In the medical device according to Aspect 7 of the present invention, in Aspect 6 described above, the friction drive element may be a single element which can selectively displace or rotate the insertion unit with respect to the actuator.

According to the above-described configuration, the single friction drive element selectively displaces or rotates the insertion unit. Therefore, compared to the actuator which realizes the conveyance in a certain direction by using multiple friction drive elements, it is possible to further reduce a possibility that the actuator is poorly operated due to dirt adhering to the insertion unit.

According to the above-described configuration, compared to the actuator which includes the multiple friction drive elements, it is possible to simplify a structure of the actuator. Therefore, the actuator can be miniaturized, and thus, it is possible to provide the medical device whose occupied space is reduced. It is possible to easily manufacture the medical device at low cost.

In the medical device according to Aspect 8 of the present invention, in Aspect 6 or 7 described above, the friction drive element may be configured to displace or rotate the insertion unit by using the standing wave vibration.

According to the above-described configuration, a stable vibration (standing wave vibration) whose amplitude is large can be generated in the friction drive element. Therefore, it is possible to reduce a possibility that the actuator may be poorly operated in a case where liquids such as blood and contaminants enter the contact portion between the actuator and the insertion unit.

In the medical device according to Aspect 9 of the present invention, in any one of Aspects 6 to 8 described above, the friction drive element may be configured to include the ultrasonic vibrator (114).

According to the above-described configuration, the ultrasonic vibrator employs major components including the vibrator, the piezoelectric element such as piezoelectric ceramics, and the electrode, does not employ a coil. Therefore, it is possible to simplify a structure of the friction drive element, thereby contributing to the miniaturized actuator.

According to the above-described configuration, a very strong force can be intermittently applied to the contact surface between the piezoelectric element and the vibrator. Therefore, it is possible to excite a sufficient vibration to convey the insertion unit by using little power.

In any one of Aspects 1 to 9 described above, the medical device according to Aspect 10 of the present invention may further include the instruction input unit (131,141) that receives an instruction from a user, and the control device (controller unit130) that includes the operation instruction unit (132,142) which gives an operation instruction to the actuator. The actuator fixing unit and the control device may be configured so that both of these are detachably connected to each other by the cable.

According to the above-described configuration, the actuator fixing unit and the control device are connected to each other by the cable. Accordingly, the control device can be located at a position away from the operating table by selecting the length of the cable. Therefore, it is possible to more widely secure a working space for an operator.

According to the above-described configuration, only the actuator fixing unit having no semiconductor component which is vulnerable to heat can be individually subjected to sterilization treatment. Therefore, it is possible to perform the sterilization treatment on the actuator fixing unit at a high temperature which ensures a high sterilization effect.

In any one of Aspects 1 to 9 described above, the medical device according to Aspect 11 of the present invention may further include the instruction input unit that receives an instruction from a user, and the control device including the operation instruction unit (radio controller unit140) which gives an operation instruction to the actuator in accordance with the above-described instruction. The operation instruction unit may be configured to give the operation instruction to the actuator by means of radio communication.

According to the above-described configuration, it is unnecessary to provide a cable for connecting the actuator fixing unit and the control device to each other. Accordingly, it is possible to more widely secure a working space for an operator by arranging the control device at a position away from the operating table.

In the medical device according to Aspect 12 of the present invention, in any one of Aspects 1 to 11 described above, the actuator fixing unit may be configured so that the electric cell (first battery143) for driving the actuator is incorporated therein.

According to the above-described configuration, it is possible to reduce the wires connected to the actuator fixing unit. Accordingly, it is possible to secure a working space for an operator. Therefore, it is possible to more widely secure the working space for the operator.

In the medical device according to Aspect 13 of the present invention, in any one of Aspects 1 to 12 described above, the actuator fixing unit may be configured to include the flexible arm the stand (flexible arm101and stand102) which supports the actuator so as to fix the position of the actuator.

According to the above-described configuration, the actuator holding the insertion unit of the medical instrument is fixed by the small-sized flexible arm the stand. Accordingly, it is possible to provide the medical device whose occupied space is reduced. According to the above-described configuration, the flexible arm is easily transformable by a human hand's force. Accordingly, it is possible to conveniently fix the actuator at an operator's desired position. According to the above-described configuration, compared to the medical robot system using the surgical robot, it is possible to manufacture the medical device at low cost.

In the medical device according to Aspect 14 of the present invention, in Aspect 2 described above, a configuration may be adopted which includes the fixing portion for fixing the actuator to the surgical port.

According to the above-described configuration, the fixing portion can fix the position of the actuator to a surgical site. Therefore, it is possible to more widely secure a working space for an operator.

In the medical device according to Aspect 15 of the present invention, in any one of Aspects 1 to 14 described above, the actuator may be configured to displace or rotate the insertion unit of the endoscope (rigid endoscope200) serving as the medical instrument.

According to the above-described configuration, while the medical device whose occupied space is reduced is realized, it is possible to suitably ensure visibility for operator's work.

The present invention is not limited to the above-described respective embodiments, and can be modified in various ways within the scope of claims. The technical scope of the present invention also includes embodiments obtained by properly combining technical means respectively disclosed in the different embodiments. A new technical characteristic may be formed by combining the technical means respectively disclosed in each embodiment.

INDUSTRIAL APPLICABILITY

The present invention can be utilized for a medical device, and in particular, the present invention can be preferably utilized for a medical device including an endoscopic camera, manipulator, and forceps for the celoscope surgery.

REFERENCE SIGNS LIST