Source: https://patents.google.com/patent/US8556805B2/en
Timestamp: 2018-04-20 18:50:21
Document Index: 756772184

Matched Legal Cases: ['art 306', 'art 308', 'art 712', 'art 308', 'arts 308', 'art 308', 'art 308', 'art 308', 'art 308', 'art 308', 'art 306', 'art 306', 'art 306', 'art 306', 'art 308', 'art 308', 'art 308', 'art 308', 'art 308', 'art 308', 'art 308', 'art.\n17', 'Application No. 2009']

US8556805B2 - Rotational force transmission mechanism, force-attenuating apparatus, medical device, and medical instrument-operation mechanism - Google Patents
Rotational force transmission mechanism, force-attenuating apparatus, medical device, and medical instrument-operation mechanism Download PDF
US8556805B2
US8556805B2 US12058029 US5802908A US8556805B2 US 8556805 B2 US8556805 B2 US 8556805B2 US 12058029 US12058029 US 12058029 US 5802908 A US5802908 A US 5802908A US 8556805 B2 US8556805 B2 US 8556805B2
US12058029
US20080306339A1 (en )
A rotational force transmission mechanism has: a rotation-inputting member freely rotative and driven in a predetermined first direction and a second direction opposite the first direction by a predetermined operating member; a first rotation-transmitting member for receiving a rotational driving force supplied from the rotation-inputting member in the first direction; a second rotation-transmitting member, disposed to face the first rotation-transmitting member, for receiving a rotational driving force supplied from the rotation-inputting member in the second direction; a connection section disposed so that the rotational force acts in the direction in which the first rotation-transmitting member and the second rotation-transmitting member face each other, the connection section in the facing position transfers the rotational driving force received by the first rotation-transmitting member in the first direction to the second rotation-transmitting member and transfers the rotational driving force received by the second rotation-transmitting member in the second direction to the first rotation-transmitting member; and a rotation-outputting member rotated and driven by the first rotation-transmitting member in the second direction, and rotated and driven by the second rotation-transmitting member in the first direction.
This is a Continuation In-part Application (CIP) based on U.S. patent application Ser. No. 12/024,704, titled “MEDICAL TREATMENT ENDOSCOPE”, filed Feb. 1, 2008, which is a CIP based on U.S. patent application Ser. No. 11/809,488, titled “MEDICAL TREATMENT ENDOSCOPE”, filed Jun. 1, 2007 now U.S. Pat. No. 8,021,293, which is a CIP based on U.S. patent application Ser. No. 11/652,880, titled “MEDICAL TREATMENT ENDOSCOPE”, filed Jan. 12, 2007 now U.S. Pat. No. 8,444,547, which is a CIP based on U.S. patent application Ser. No. 11/435,183, titled “MEDICAL TREATMENT ENDOSCOPE”, filed May 16, 2006, which is a CIP based on U.S. patent application Ser. No. 11/331,963, titled “MEDICAL TREATMENT ENDOSCOPE”, filed Jan. 13, 2006 now U.S. Pat. No. 8,092,371.
The present invention relates to a rotational force transmission mechanism, a force-attenuating apparatus, a medical device, and a medical instrument-operation mechanism.
Laparoscopic surgery is a conventionally known technique that has been employed when performing a medical procedure such as observation or treatment of the internal organs of the human body. Rather than making a large abdominal incision, laparoscopic surgery allows for the procedure to be carried out by making several openings in the abdominal wall, and inserting a laparoscope and surgical instruments such as forceps into these openings. This type of surgery offers the benefit of being less invasive on the patient, since only small openings are made in the abdominal wall.
A first aspect of the present invention is a rotational force transmission mechanism, including: a rotation-inputting member freely rotative and driven in a predetermined first direction and a second direction opposite the first direction by a predetermined operating member; a first rotation-transmitting member for receiving a rotational driving force supplied from the rotation-inputting member in the first direction; a second rotation-transmitting member, disposed to face the first rotation-transmitting member, for receiving a rotational driving force supplied from the rotation-inputting member in the second direction; a connection section disposed so that the rotational force acts in the direction in which the first rotation-transmitting member and the second rotation-transmitting member face each other, the connection section in the facing position transfers the rotational driving force received by the first rotation-transmitting member in the first direction to the second rotation-transmitting member and transfers the rotational driving force received by the second rotation-transmitting member in the second direction to the first rotation-transmitting member; and a rotation-outputting member rotated and driven by the first rotation-transmitting member in the second direction, and rotated and driven by the second rotation-transmitting member in the first direction.
A second aspect of the present invention is a medical instrument-operation mechanism including: a base frame; two laterally disposed housings capable supported by the base frame rotatively along a horizontal plane respectively; operation sticks enclosed in the laterally disposed housings rotatively along a vertical plane and a horizontal plane, the operation sticks being capable of having the procedure instrument inserted therethrough; and a link mechanism for adjusting angles of the laterally disposed housings along the horizontal plane via a link provided to extend into central positions of the housings from the laterally disposed housings.
FIG. 25 illustrates the connection plate in a retractable state.
FIG. 50 is a cross-sectional view illustrating movements of a fitting-hole of an attachment section and a fitting-member of a second supporting section in the medical treatment endoscope according to a modified example of the present invention.
FIG. 51 shows a modified example of the wire unit in the present invention.
FIG. 52 shows movement of attaching a wire unit to the operation section.
FIG. 53 shows the structure of an operation section of the medical treatment endoscope according to a third embodiment of the present invention.
FIG. 54 is a view on arrow AA in FIG. 53.
FIG. 55 is a view on arrow AB in FIG. 53.
FIG. 56 is a bottom plan view of the operation section shown in FIG. 53.
FIG. 57 is a cross-sectional view along the line AC-AC in FIG. 53.
FIG. 58 is a view along the line AD-AD in FIG. 55.
FIG. 59 is a front view showing an angle adjustment mechanism of a second rotational mechanism.
FIG. 60 is a view on arrow AA in FIG. 59.
FIG. 61 is a perspective view showing a bracket and an inner-teeth gear used in angle adjustment mechanism.
FIG. 62 is a cross-sectional view along the line AB-AB in FIG. 59.
FIG. 63 is a cross-sectional view along the line AC-AC in FIG. 59.
FIG. 64 is a plan view of a torque limiter.
FIG. 65 is a perspective exploded view of the torque limiter.
FIG. 66 is a view along the line AD-AD in FIG. 59.
FIG. 67 is a side view of a second-bending-section-operating mechanism.
FIG. 68 is a view on arrow AA in FIG. 67.
FIG. 69 is a view on arrow AB in FIG. 67.
FIG. 70 is a view along the line AA-AA in FIG. 69.
FIG. 71 is a perspective exploded view showing a spring-enclosure casing enclosing a compression coil spring enclosed.
FIG. 72 is a cross-sectional view showing the spring-enclosure casing enclosing the compression coil spring enclosed.
FIG. 73 is a cross-sectional view showing movement of the second-bending-section-operating mechanism.
FIG. 74 is a cross-sectional view showing movement of the second-bending-section-operating mechanism.
FIG. 75 is a front view showing a member forming a part of a first rotation mechanism.
FIG. 76 is a perspective view showing the member forming a part of the first rotation mechanism.
FIG. 77 is a cross-sectional view of a part AA shown in FIG. 75.
FIG. 78 is a plan view showing a modified example of the torque limiter.
FIG. 79 is a plan view showing another modified example of the torque limiter.
Embodiments of the present embodiment will be described as follows. The basic structure of a medical treatment endoscope of the present invention is disclosed by the corresponding U.S. patent application Ser. Nos. 11/331,963, 11/435,183, and 11/652,880 of the present patent application. Disclosure by these applications is incorporated into the following explanation.
As illustrated in FIG. 1, an endoscope insertion section 503 fully integrated with a medical treatment endoscope 501 extends from an end of an endoscope insertion section 502. An elongated and flexible endoscope insertion section 503 has the same structure as those of the U.S. patent application Ser. Nos. 11/435,183 and 11/652,880. That is, the endoscope insertion section 503 has a first sheath 301 having a first arm section 302A and a second arm section 302B on the tip of the first sheath 301. Treatment sections 505A and 505B of procedure instruments 504A and 504B each protrude from the tips of the arm sections 302A and 302B. A first bending part 306 and a second bending part 308, in this order from the tips of the arm sections 302A and 302B, are formed to each arm section 302A and 302B. Combined use with a third bending section 203B formed to the first sheath 301 enables a bending operation in a human body. The first and second arm members 302A and 302B may be inserted into another sheath protruding from the tip of the sheath 301 as disclosed by the U.S. patent application Ser. No. 11/652,880. Meanwhile, an operation section 520 is enlarged in FIG. 1 to help better understanding.
In addition, an elongated flexible connection sheath 515 extends from the other end of the endoscope insertion section 502. An operation section 520 is disposed at an end of a connection sheath 515.
The operation section 520 has a base 521 that fixes the connection sheath 515. Attached to the base 521 are a first operation unit 530A and a second operation unit 530B. The first operation unit 530A has an operation stick 531A into which an operation section 506A of the procedure instrument 504A is inserted. The procedure instrument 504A is passed through the first arm member 302A. The operation section 506A is supported by an operation stick 531A so as to be capable of freely extending and retracting in the axial line and bending in four directions with respect to the axial line. The second operation unit 530B has an operation stick 531B into which an operation section 506B of the procedure instrument 504B is inserted. The procedure instrument 504B is passed through the second arm member 302B. The operation section 506B is supported by an operation stick 531B so as to be capable of freely extending and retracting in the axial line and bending in four directions with respect to the axial line. Furthermore, the operation section 520 fixed to an operation bed enables operation of the first second operation unit 530A and the second operation unit 530B.
As illustrated in FIG. 2 in an enlarged view, the operation units 530A and 530B are disposed diagonally so that portions closer to the connection sheath 515 are placed closer to each other. Two operation sections 506A and 506B (or two operation sticks 531A and 531B) are disposed at angles between 20° and 100°. Disposing the operation sections 506A and 506B with the opening angle relative to an operator facilitates the operator's operation, thus improving operability. In addition, the width of the operation section 520 closer to the connection sheath 515 can be reduced. Also, as disclosed by U.S. patent application Ser. No. 11/652,880, disposition (in horizontal direction) of arm sections 302A and 302B in an endoscope image obtained through an object lens of a viewing device (viewing unit) attached to the first sheath 301 can be coincided with disposition (in horizontal direction) of the two operation units 530A and 530B. This improves correlation of an operator's perception and actual inner-body movement, thereby facilitating manipulation. Furthermore, less force is required for an operator to operate only the operation sticks 531A and 531B and the operation sections 506A and 506B of the procedure instruments 504A and 504B. Dispositions having reverse correlation with respect to horizontal or vertical direction provide similar operational perception obtained by laparoscopic instruments.
As illustrated in FIGS. 2 to 4, the first operation unit 530A has a bracket 551A fixed to the base 521. The bracket 551A is fixed so that an opening 552A is approximately substantially orthogonal to the center line of the first operation unit 530A. A first rotation mechanism 561A is attached to horizontal side surfaces of the bracket 551A. The first rotation mechanism 561A has a pair of support chips 562A and 563A that are fixed to place the opening 552A of the bracket 551A therebetween. A rotation shaft 564A is disposed to the support chip 562A. A rotation shaft 565A is disposed to the support chip 563A. The rotation shafts 564A and 565 a are disposed coaxially. A frame 567A is supported by this pair of rotation shafts 564A and 565 a so as to be freely capable of rotating with respect to a bracket 551. An opening of the rectangular frame 567A is disposed orthogonal to the center line of the first operation unit 530A. The operation stick 531A is inserted through the frame 567A. The operation stick 531A engaging with the frame 567A in rotating angles of the rotation shafts 564A and 565 a is inserted so as to be independently capable of tilting in the axial lines of the rotation shafts 564A and 565A.
Provided further to cover the flange 594C of the bearing 594 and a coil spring 576 is a cylindrical cover 603. A notch 603C is formed on a base portion of the cover 603. The other terminal 596D of the coil spring 596 is hooked at the notch 603C. In addition, a cylindrical section 599D of the bearing 599 protruding from the cover 603 is fixed to the frames 580A by a pin.
Since an initial state of the coil spring 596 tightens the outer peripheries of the drive shaft 594 and the bearing 591, the drive shaft 594 is joined to the bearing 591 by the coil spring 596. Since the bearing 591 is fixed to the support chip 582A, the drive shaft 594 cannot rotate in the direction for tightening the coil spring 596. However, it is rotatable in a direction for loosening the coil spring 596. In contrast, a tilting movement provided by an operator of the operation stick 531A into the direction for tightening the coil spring 596 tilts the frames 580A that makes contact with the operation stick 531A. Tilting the frames 580A rotates the bearing 594 of the rotation shaft 584A and the cover 603. Rotating the cover 603 loosens the coil spring 596, thereby releasing the drive shaft 594 locked to the bearing 591. This results in allowing the drive shaft 594 to rotate, thereby transferring the rotation to a sprocket 595. The present symmetric disposition of the rotation shaft 585A with respect to the operation stick 531A transfers the rotational movement of the operation stick 531A but not the rotational movement for tightening the coil spring 596 from the sprocket 595. The operator's operation is transferred but a reaction force by the sprocket 595 is maintained when the operator stops the operation. Thus, the position is maintained, and the operation can be facilitated.
Meanwhile, loosening the coil spring 596 to release the locked state and transferring the rotation via the coil spring 596 inevitably provide an excessive force acting on the coil spring 596. In order to avoid such a state, a play is provided so that the head portion of the rotative pin 597 of the drive shaft 594 makes contact to a periphery wall of the through-hole 599C of the bearing 594 after releasing the locked state. Rupture of the coil spring 596 is prevented by transferring the rotation by means of the rotative pin 597. The spring clutch having such a configuration, not limited to the present embodiment, can be used for a rotative structure for the procedure instrument or for the overtube.
In addition, a drive shaft 584 protruding from the flange of the bearing 591 is supported by bearings 613 and 614 so as to be rotative with respect to a hollow shaft 612. The sprocket 595 is fixed to a hollow shaft 611. It should be noted that a rotative member for pushing and drawing a wire, e.g., a wire pulley, may be used in place of the sprocket 595.
The hollow shaft 612 is rotatively supported by the bearing 592 with respect to the bearing 591. The drive shaft 594 and the hollow shaft 612 both protruding over the sprocket 595 are inserted in a torque limiter 611. The torque limiter 611 includes an outer 611C fixed to the hollow shaft 612 and an inner 611D fixed to the drive shaft 594. The inner 611D and the outer 611C unitarily rotate until a predetermined torque is applied. When excessive torque is applied, the outer 611C slides on the inner 611D; and thus, the rotation is not transferred.
As illustrated in FIG. 8 showing a configuration of the rotation shaft 585A, the sprocket 595 is rotatively housed in a circular recessing section 621 formed in the support chip 583A. A chain 622 is wound on teeth of the sprocket 595. A groove 623 is formed to the support chip 583A. An end part of the chain 622 can be drawn into a groove 623 that continues to the recessing section 621. The groove 623 is formed deeper than the recessing section 621. Providing a gap 624 between the groove 623 and the recessing section 621 prevents the chain 622 from being entangled between the sprocket 595 and the recessing section 621, thus guiding the chain 622 into the groove 623.
As illustrated in FIG. 8, the first bending wire 315A is drawn into an adjuster 641 disposed at an end part of the groove 623 of the support chip 583A and introduced into a connection sheath 515 together with the coil sheath passing through a coil sheath 642 connected to the adjuster 641. The first bending wire 315A is finally reached to the first arm member 302A. As illustrated in FIGS. 8 and 9, the adjuster 641 has a coil base 651 fixed to the support chip 583A. A screw hole 651A is formed to the coil base 651. An adjustment shaft 652 having a thread on the outer periphery thereof screwed into the screw hole 651A. The adjustment shaft 652 is a cylinder having a bottom. An end section 652A corresponds to the bottom part into which a coil stopper 653 is inserted. Removal of the coil stopper 653 is prevented by engaging a flange-shaped protrusion 653A with an inner surface of the end section 652A. The removal prevention in the reverse direction is provided by attaching a lock-screw 654 to the outer periphery. An end part of the coil sheath is fixed to the coil stopper 653. The first bending wire 315A passes through the adjustment shaft 652, followed by the coil stopper 653 and the coil sheath 642. The first bending wire 315A sometimes loosely extends during the step using the medical treatment endoscope 501. In this case, inserting a fixture into a hole 652B of the adjustment shaft 652 and rotating them cause the coil sheath 642 together with the adjustment shaft 652 to move in the axial direction. Forwarding the coil sheath 642 draws the first bending wire 315A from the coil sheath 642, thereby adjusting the loose state. Since the loose state can be adjusted by means of a screw, it is not necessary to dissemble the apparatus. Since the adjustment shaft 652 is rotatively engaged with the coil stopper 653, rotating the adjustment shaft 652 will never rotate the coil sheath 642.
As explained previously, the torque limiters 611 provided to the rotation shafts 584A and 585A prevent the rotation of the rotation shaft 585A from being transferred to the sprocket 595 when an excessive input is provided from the operation stick 531A. This results in preventing an excessive force from being applied to the first bending wire 315A. Considering a case assumed to use no torque limiter 611 may lead to a possibility where an excessive force is applied to the first bending wire 315A. The torque limiter 611 for controlling the maximum torque can prevent the first bending wire 315A from being fractured. In addition, disposing the torque limiter 611, the sprocket 595, and the rotation shafts 564A and 565A in this order from the outside shorten the distance between the support chips 582 a and 583A, thereby downsizing the bracket 551A. This increases freedom in layout and contributes to a downsized and light-weight configuration.
In the operation stick 531A as illustrated in FIGS. 5, 6, and 10, three cylindrical shafts 701, 702, and 703 bundled together are fixed to a tip portion to which a ball roller 572A is attached. The central shaft 701 is longer than two shafts, i.e. shafts 702 and 703. The other two shafts 702 and 703 barely reach to an abutment section 710 that serves as a rotative fulcrum making contact with the frame 567A of the first rotation mechanism 561A. In contrast, the central shaft 701 extends beyond an abutment section 710.
As illustrated in FIG. 11, a through-hole 712A is formed in the center of the ratchet base 712. The through-hole 712A serves as an entrance from which the operation section 506A of the procedure instrument 504A is inserted. Furthermore, a part 712B of an outer periphery of the ratchet base 712 extends in a direction orthogonal to the axial line direction. Putting a thumb here allows the second bending slider 711 to be smoothly forwarded or retracted. A piston 715 slidable in a radial direction is housed in the ratchet base 712. The piston 715 is urged by a coil spring 716 in a radial direction orthogonal to the axial line direction. A protrusion 715A at the tip protrudes into a through-hole 712A that is an insertion path for the procedure instrument 504A. A slit 717 is formed on the piston 715. An engagement chip 717A is formed in the slit 717. A first groove 718 of the connection plate 713 is engaged with the engagement chip 717A. The first groove 718 is inserted through a slit 712C penetrating the ratchet base 712. Meanwhile, a vertical groove 717C that is parallel in a radial direction may be formed on the piston 715 as illustrated in FIG. 12. Inserting the tip portion of a clamping-bolt 716A (see FIG. 10) into a vertical groove 717C of an outer periphery of the ratchet base 712 can prevent the rotation of the piston 715. This prevents the piston 715 from galling the connection plate 713, thereby providing smooth movements of the piston 715 and the connection plate 713 as explained later.
The tip of the connection plate 713 is joined to the second bending slider 711 by a fulcrum pin 721 and extends substantially parallel in the axial line from here toward the ratchet base 712. The recessing shape of the first groove 718 allows the engagement chip 717A of the piston 715 to enter there, and a midpoint of the wall surface of the tip portion of the first groove 718 forms an inclination surface 718A. The inclination surface 718A gradually widens the first groove 718 from the midpoint to the tip portion. A second groove 719 is formed at a further tip portion than the first groove 718 is formed. The recessing shape of the second groove 719 allows the engagement chip 717A of the piston 715 to enter there. The second groove 719 is deeper than the first groove 718. The base end wall surface of the second groove 719 forms an inclination surface 719A. The inclination surface 719A gradually widens the second groove 719 toward the tip portion. The first groove 718 is positioned so that the second bending part 308 of the first arm member 302A as illustrated in FIG. 1 becomes straightened. The second groove 719 is positioned so that the second bending parts 308 bend to open the first arm member 302A. This allows the arm section 302A to close by engaging the first groove 718 with the piston 715, and allows a second arm member 303A to open by engaging the second groove 719 with the piston 715. As previously described, the engagement of the piston 715 with the grooves 718 and 719 can be released with a small force since the inclination surfaces 718A and 719A are formed in the grooves 718 and 719. This facilitates smooth switching of the engagement position of the piston 715 with the grooves 718 and 719. As illustrated in FIG. 23, a spring 791 forces the second bending slider 711 and the connection plate 713 to be positioned toward the tip portion by the spring force when the procedure instrument 504A is not inserted and thus, the first groove 718 engages with the piston 715. As illustrated in FIG. 25, the piston 715 is pushed by the operation section 506A of the procedure instrument 504A when the procedure instrument 504A is inserted. Since this state of the engagement chip 717A can move up the inclination surface 718A, the second bending slider 711 can be drawn, and the second bending part 308 can be opened. In this configuration, the procedure instrument 504A must be inserted to draw the second bending slider 711 because the tip of the procedure instrument 504A can hardly be passed through the opening state of the second bending part 308. As illustrated in FIG. 27, the engagement chip 717A makes contact with the inclination surface 719A as long as the second bending slider 711 is drawn toward the base end. The tension applied by second bending wires 316A and 316B urges the slider 711 toward the tip. As illustrated in FIGS. 28 and 29, raising the piston 715 necessitates a significant force if the disposition angle of the inclination surface 719A is significantly equal to 90°. If the disposition angle is substantially horizontal, the piston 715 is spontaneously raised by the tension applied by the second bending wires 316A and 316B and therefore, the second bending slider 711 moves toward the tip, and the second bending part 308 closes. The suitable angle α of the inclination surface 719 is 60°≦α<90°.
As illustrated in FIG. 13, two pipes 731 are attached to the tip of the second bending slider 711 so as to place the axial line between pipes 731. Second bending wires 316A and 316B are passed respectively through these pipes 731. The second bending wires 316A and 316B are fixed to an engagement member 732 in the second bending slider 711 so that the second bending wires 316A and 316B cannot be removed from the second bending slider 711. Disposing the second bending wires 316A and 316B symmetrically with respect to the second bending slider 711 equalizes the force applied to the second bending slider 711 and thus providing smooth movement thereof.
Two shafts 702 and 703, disposed further toward the tip, each have the pipe 731 inserted therethrough. The pipe 731 and the second bending wires 316A and 316B are inserted through the shafts 702 and 703 disposed side by side. The shafts 702 and 703 each have a retainer member 741 at the base end. Another pipe 742 is inserted from the tip through the retainer member 741. A pipe 731 and second bending-wires 316A and 316B are passed through the pipe 742. The tip of the pipe 742 is supported by a coil-receiving casing 743. The coil-receiving casing 743 is screwed in the hole of a cylindrical pusher 744 and fixed there. An end portion of a coil spring 745 makes contact with the base end of the pusher 744. The other end portion of the coil spring 745 is butted against the retainer member 741. The pusher 744 is urged by the coil spring 745 toward the tip. In response to excessive force that draws the second bending wires 316A and 316B, a force that relatively moves a coil sheath 747 to an operator's hand is applied and thus, the coil spring 745 is compressed via the pusher 744. The coil spring 745 that is preset to a length exerting a predetermined force begins to contract if the preset force is overreached. Since the second bending wires 316A and 316B can further be drawn in accordance with the contraction of the coil spring 745, an excessive force is not applied to the second bending wires 316A and 316B. A force applied to the second bending wires 316A and 316B will never increase rapidly as long as the coil spring 745 can be contracted if an excessive force is applied and therefore, the second bending wires 316A and 316B will never be cut since overload mass is curbed. Meanwhile, the coil spring 745 is compressed by a pusher retainer 746 screwed from the tips of the shafts 702 and 703. Since the initial position of the pusher 744 can be adjusted in accordance with the compression mass of the pusher retainer 746, differences in rigidity and bending force based on the coil springs 745 can be adjusted.
As illustrated in FIGS. 13 and 14, a channel 801 for passing a procedure instrument 504A therethrough is built in the central shaft 701. The channel 801 has, in order from the base end, a retainer 802 that accommodates the procedure instrument 504A, a coil spring 803 inserted between the retainer 802 and the tip section 571A, and an extendable pipe 804 disposed in the coil spring 803. A hole 802A is formed in the center of the retainer 802. The hole 802A serves as an entrance for inserting the procedure instrument 504A therefrom. The hole 802A is a tapered hole where the opening diameter increases toward the base end. The hole 802A having a funnel shape facilitates the insertion of a distal end of an insertion section 507A of the procedure instrument 504A. The extendable pipe 804 has three pipes 805, 806, and 807 each of which are different in diameter. These pipes are disposed coaxially. A removal stop 808 is attached to the pipes 805 and 806. A stopper 809 locked to the removal stop 808 is attached to each pipe 806 and 807. That is, the extendable pipe 804 becomes the shortest when three pipes 805, 806, and 807 substantially overlap. Extending each pipe 805, 806, and 807 and locking the stopper 809 to the removal stop 808 allows the extendable pipe 804 to be the longest. While the drawings illustrate the compressed state of the coil spring 803, it restores under the no-load condition. The retainer 802 moves to the vicinity of a shaft 701 and to the vicinity of the distal end of the piston 715. Since the retainer 802 is disposed at the base end of the shaft 701 unless the procedure instrument 504A is not inserted, the insertion section 507A of the procedure instrument 504A can be inserted easily. The retainer 802 is pushed by the tip portion of the operation section 506A of the procedure instrument 504A to be forwarded to the position illustrated in FIG. 13 when the procedure instrument 504A is inserted. It should be noted that the extendable pipe 807 is not limited to a triple-pipe structure.
A space for passing the procedure instrument 504A therethrough is provided in a tip section 571A that joins three shafts 701, 702, and 703. An airtight valve 811 is provided on a path into which the procedure instrument 504A is inserted and thus, the airtight condition inside of the body subjected to a medical operation can be maintained even if the procedure instrument 504A is removed during the medical operation. The airtight valve 811 is made of, for example, a rubber sheet disposed to seal a hole 571B that communicates with the shaft 701. Formed to the rubber sheet is a notch into which an insertion portion of the procedure instrument 504A can be inserted. Passing the procedure instrument 504A therethrough necessitates opening the notch. Removing the procedure instrument 504A closes the notch, thereby maintaining the airtight condition. A retainer 812 is used to fix the airtight valve 811. Fixing the retainer 812 onto the tip section 571A by screws facilitates exchanging the airtight valve 811 made of a rubber sheet. Meanwhile, the procedure instrument 504A is introduced into the body through a hole 812A formed in the retainer 812. Forming a hole 812A so as to be tapered toward the tip facilitates the insertion of the procedure instrument 504A.
The second operation unit 530B has a symmetric configuration to the first operation unit 530A with respect to the horizontal center line of the operation section 520. A symbol “B” is added to some components included in the operation unit 530B to distinguish them from those of the first operation unit 530A.
As illustrated in FIGS. 5 and 15, the tip portion of the cam 910 is a taper where an opening diameter decreases. When a taper surface 910A is inserted through the operation stick 531A, the taper surface 910A serves for pushing up the piston 715 and pressing the channel 801. The outer diameter of the cam 910 is substantially the same as the inner diameter of the shaft 701 so that the cam 910 is slidable on the shaft 701. Four blade sections 921 extending in the axial line direction are provided to the base end of the cam 910. As illustrated in FIG. 19A, each blade section 921 is provided only on the outer periphery of the cam 910. A side surface 921A in the circumferential direction forms a tilted and curved surface from the center radially outward.
In addition, as illustrated in FIGS. 19B and 20, a slope 921C directed to the tip together with a gap surface 921B standing in a radial direction may be formed on the outer periphery of the tilted side surface 921A of the cam 910. A gap 921D between the tilted side surface 921A and the outer periphery of the cam 910 is smoothly resolved by the slope 921C. A side surface 921E disposed opposite to the side surface 921A in the blade section 921 has a space greater than the diameter of the piston 715 between the side surface 921A of another blade section 921 adjacent in the circumferential direction and the side surface 921E. The side surface 921E is tilted in the direction the same as the tilting direction of the side surface 921A. The tilting direction of the side surface 921E is significant, i.e., forms a steep surface.
A main body section 911 is screwed into an inner hole of the cam 910 and fixed there. The outer diameter of the main body section 911 including a part inserted into the cam 910 and a stopper 922 having an increased diameter may be reduced gradually toward the base end. That is, FIG. 15 shows an example in which a diameter d2 at the base end is smaller than a diameter d1 at the tip. An operation section 506A of the hole 571B has a play relative to the operation stick 531A to prevent the main body section 911 from pushing up the piston 715 even if the operation section 506A is tilted or bent. Also, the tip of the piston 715 protruding into the shaft 701 is configured to have a correlation with the second groove 719 so that a space is formed between the piston 715 and the second groove 719. Thus, the piston 715 is prevented from interfering with the main body section 911 and therefore, the forward movement or retracting movement of the procedure instrument 504A can be smooth. In addition, the stopper 922 makes contact with a ratchet base 712 when the procedure instrument 504A is inserted through the operation stick 531A and regulates the procedure instrument 504 a to prevent it from being pushed further.
As illustrated in FIG. 22, a coil receiver 943, to which the base end of the single-layered coil 942 is fixed, is housed in the base end of the intermediate coupling 941. The tip of the previously described pipe 935 is inserted into the coil receiver 943. A diameter-contracting section 941A is provided to the intermediate coupling 941 to prevent the coil receiver 943 from being removed toward the tip. The single-layered coil 942 is inserted into a multi-layered coil 951 farther toward the tip than the diameter-contracting section 941A. The multi-layered coil 951 is configured to have more than three coils disposed coaxially. For example, an innermost layer coil and an outermost layer coil are wound in the same direction, and an intermediate-layer coil is wound in the opposite direction in the case of a three layer structure. This results in that rotating of the innermost layer coil and the outermost layer coil in the coil-loosening direction tightens the intermediate-layer coil, thereby causing the intermediate layer coil to interfere with the innermost layer coil. Thus, the rotation torque is transferred to the treatment section 505A at the tip. Rotating in the opposite direction causes the loosening intermediate layer coil to interfere with the outermost layer coil, thereby transferring the rotation torque to the treatment section 505A. In addition, using a metal-made multi-layered coil 951 improves the transferred rotation torque. A resin-made coil may be used for obtaining insulation.
The main body section 911 should preferably be made of a metal material taking durability into account. In this case, providing insulation to the operation section 506A realizes a procedure instrument 504A for use in a medical operation with a high-frequency apparatus. Therefore, the use of a resin in the removal stop 953, intermediate coupling 941, thermally-contracting tube of the pipe 935, pipe retainer 934, and slider 912 reliably isolates the main body section 911 from the operation wire 932 and coils 942 and 951. This results in using high-frequency waves with the procedure instrument 504A such as an incision knife or a high-frequency forceps. Apparatuses of this type can be used compatibly. Insulation coating onto the multi-layered coil 951 may not be necessary unless the procedure instrument is of a high frequency application-type apparatus. In this case, increasing the thickness of the multi-layered coil 951 corresponding to the thickness of thermally contracting tube for use as a coating will provide a more rotative procedure instrument. The thickness of the thermally contracting tube utilized for the single-layered coil 942 will provide significantly more resistance against compression or expansion.
As illustrated in FIG. 5, the insertion section 507A of the procedure instrument 504A passing through the channel 801 is introduced into a channel in the connection sheath 515. The insertion section 507A further passing through the endoscope insertion section 503 is introduced to the tip of the first arm member 302A. Similarly, the procedure instrument 504B inserted into the operation stick 531B of the operation unit 530B is disposed at the tip of the second arm member 303A.
Bending the second bending part 308 necessitates retracting the second bending slider 711 provided to the operation sticks 531A and 531B. As illustrated in FIG. 25, retracting the second bending slider while the piston 715 is elevated causes the engagement chip 717A of the piston 715 to go up the inclination surface 718A, thereby causing the connection plate 713 to slide on the piston 715 as illustrated in FIG. 26. The second bending slider 711 cannot be farther retracted after the piston 715 is housed in the second groove 719 as illustrated in FIG. 27. The second bending part 308 as illustrated in FIG. 1 bends at this position, causing the first arm member 302A to open. In addition, since the second groove 719 is shallower than the first groove 718, a space Ss is formed between the cam 910 and the main body section 911 of the operation section 506A when the piston 715 engages with the second groove 719. Absence of sliding friction between the main body section 911 and the piston 715 allows smooth extension and retraction of the main body section 911.
As illustrated in FIG. 4, tilting the operation section 506A upwardly relative to the operator causes the rotation shafts 564A and 565A of the first rotation mechanism 561A to rotate in accordance with the tilting angle. The rotation of the sprocket 595 attached to the rotation shafts 546A and 565 a causes extension and retraction of the first bending wires 315A and 315B attached to the chain 622, thereby bending the first bending part 306 upward. In contrast, tilting the operation section 506A downward relative to the operator causes the rotation shafts 564A and 565A of the first rotation mechanism 561A to rotate in the direction reverse to the upward tilting direction in accordance with the tilting angle. The reverse rotation of the sprocket 595 attached to the rotation shafts 546A and 565 a causes extension and retraction of the first bending wires 315A and 315B attached to the chain 622, thereby bending the first bending part 306 downward.
Tilting the operation section 506A in a right-hand direction relative to the operator causes the rotation shafts 584A and 585A of the second rotation mechanism 581A to rotate in accordance with the tilting angle. The rotation of the sprocket 595 attached to the rotation shafts 584A and 585A causes extension and retraction of a first-bending-downward operation wire and a second-bending-downward operation wire attached to the chain 622, thereby bending a first bending part 306 in the right-hand direction. In contrast, tilting the operation section 506A in a left-hand direction relative to the operator causes the rotation shafts 584A and 585A of the second rotation mechanism 581A to rotate in the reverse direction in accordance with the tilting angle. The rotation of the sprocket 595 attached to the rotation shafts 584A and 585A causes extension and retraction of the first bending wires 315C and 315D attached to the chain 622, thereby bending the first bending part 306 in the right-hand direction.
However, the treatment sections 505A and 505B cannot be removed if the second bending part 308 of the arm sections 302A and 303A is opened, and the engagement of the piston 715 and the cam 910 can be released. The piston 715 pushed up by the cam 910 in the operation section 520 is configured to automatically restore the second bending part 308 to a straightened state. That is, pushing up the piston 715 and releasing the engagement with the second groove 719 retract the second bending slider 711 with tension applied by the second bending wires 316A and 316B and a resilience of the coil spring 745. This results in causing the second bending part 308 to restore into the straightened state. In addition, a resilient part like a spring 792 as illustrated in FIG. 13 may be added to prevent energetic restoration of the second bending slider 711. Consequently, the medical treatment endoscope 501 is removed from the body after removing the procedure instrument 504A.
As illustrated in FIG. 30, operation sections 1001A and 1001B each for operating the second bending slider 711 may be fixed to the bracket 551A and a bracket 551B in parallel with each axial line of the operation sticks 531A and 531B. The operation sections 1001A and 1001B each have an extendable and retractable slider. Moving the slider causes the wire in a coil sheath 1002 to be extended or retracted. As illustrated in FIG. 31, the coil sheath 1002 is fixed to the coil receiver 1003 attached to the ratchet base 712. A pipe 1004 is passed through the coil receiver 1003. The pipe 1003 passing through the coil sheath 1002 is rotatively engaged with the second bending slider 711 via the wire receiver 1005 together with the second bending wires 316A, 316B. A wire 1006 joined to the sliders of the operation sections 1001A and 1001B is passed through the pipe 1004. Retracting the sliders of the operation sections 1001A and 1001B moves the wire 1006, thereby drawing the second bending slider 711 and opening the second bending part 308. In this configuration, the operation section 520 can be downsized and thus, operation of the second bending part 308 can be facilitated. Also, this configuration prevents the movement of the operation sticks 531A and 531B during the operation of the second bending part 308. Thus, grasped tissue will never be moved unexpectedly.
As illustrated in FIG. 32, the base end of the cam 910 may be an inclination surface 1010. Drawing the procedure instrument 504A from the first operation stick 531A causes the piston 715 to move up the inclination surface 1010, thereby removing the procedure instrument 504A. The procedure instrument 504A cannot be removed with a force based on the retraction of the procedure instrument 504A toward the operator during a treatment. Further additional force will provide retraction. In this configuration, the procedure instrument 504A can be removed without rotating the operation section 506A.
In addition, operations for significant rotations of the procedure instruments 504A and 504B will be explained with reference to FIGS. 33 and 34. This includes cases where we intend to adjust the treatment section 505A in the optimum direction to grasp tissue. As illustrated in FIG. 33, the slider 912 is held with an index finger and a middle finger. The hand-held state of the slider 912 is rotated in a clockwise direction by 90°. The index finger and the middle finger are withdrawn from the slider 912 after rotating the slider 912 and the main body section 911 to the positions illustrated in FIG. 34. The hand not holding the slider 912 is rotated in a counterclockwise direction by 90° to the position illustrated in FIG. 33. This state of the insertion section 507A of the procedure instrument 504A has friction relative to channels in a first operation stick 531A and the second arm member 302A. To be more specific, the channels are a channel 801, a channel in the connection sheath 515, and a channel in the endoscope insertion section 503. Therefore, the insertion section 507A will not rotate in the counterclockwise direction with a mere touch with the slider 912 and thus, its disposition is maintained. Repeating the above steps enables 900 feed operation of the procedure instrument 504A.
A wire for transmitting operation of an operation section to a treatment-conducting-arm section is detachable relative to an operation section of a medical treatment endoscope of the present embodiment.
FIG. 36 is a view showing the structure of a medical treatment endoscope 1300 according to the present embodiment. The medical treatment endoscope is provided with the endoscope insertion section 502 and the endoscope insertion section 503 which are the same as those of the first embodiment; and an operation section 1350 having substantially the same basic structure as that of the operation section 520. As illustrated in FIG. 36, two arm sections 302A and 302B extend from the endoscope insertion section 503. A viewing device, not shown in the drawing, for observing the arm sections 302A and 302B is attached to the tip of the extruding sheath 301. A wire for transmitting the operation of the operation section 1350 to the arm sections 302A and 302B is connected through a connection sheath 515 to a wire unit (attachment section), which is detachable from the operation section 1350. Three wire units provided to each arm section are two first wire units including a vertically moving first wire unit 1301 and a horizontally moving second wire unit 1302; and a second-bending-wire unit 1303. Therefore, the present embodiment is provided with six wire units in total, i.e., wire units 1301A, 1302A, and 1303A that are connected to the first arm section 302A and wire units 1301B, 1302B, and 1303B that are connected to the second arm section 302B.
The first wire units 1301A and 1301B are attached to first rotation mechanisms 1351A and 1351B of the operation units 1350A and 1350B, not shown in the drawing, respectively. The second wire units 1302A and 1302B are attached to second rotation mechanisms 1352A and 1352B of each operation unit, not shown in the drawing, respectively. In each operation unit, the second bending wire units 1303A and 1303B are attached detachably to second bending-operation-mechanisms 1353A and 1353B, not shown in the drawing, provided between the first rotation mechanism and the second rotation mechanism.
FIG. 38 is a perspective view showing a first wire unit 1301. FIG. 39 shows the first wire unit 1301 in exploded view. It should be noted that the second wire unit 1302 has the same structure except having a wire connected thereto.
As illustrated in FIGS. 38 and 39, the first wire unit 1301 is provided with a coil 1304 having a wire extending from the arm section and being inserted therethrough; a coil base 1305 having a coil 1304 fixed thereon; a pulley (attachment member) 1306 having the wire wound therearound and being inserted into the coil base 1305; a freely rotatable wire cover 1307 attached to the pulley 1036; and a unit cover 1308 attached to the coil base 1305.
FIG. 40 shows the first wire unit 1301 except for the unit cover 1308 and the wire cover 1307. The coil base 1305, made from a resin, etc., has a base section 1309 having various mechanisms thereto; and a protrusion section (first protrusion section) protruding from the base section 1309 downward. In addition, coils 1304 are fixed to both ends of one of the end sections via a fixed member 1311.
FIG. 41 is a cross-sectional view of the pulley 1036 inserted through the base section 1309. As illustrated in FIG. 41, the pulley 1036 has a disk section 1312 having the wire extending from the arm section and being wound therearound; and an attachment section (second protrusion section) 1313 extending beneath the disk section 1312. The attachment section 1313 has a first attachment section 1313A, disposed beneath the disk section 1312, having a diameter smaller than that of the disk section 1312; and a second attachment section 1313B, disposed beneath the first attachment section 1313A, having a diameter smaller than that of the disk section 1312 and greater than that of the first attachment section 1313A. The freely rotatable attachment section 1313 of the pulley 1036 is inserted into a hole section 1314 provided onto the base section 1309 of the coil base 1305. As illustrated in FIG. 39, the hole section 1314 has a round hole 1314A having a diameter greater than that of the second attachment section 1313B; and a groove 1314B having a diameter greater than that of the first attachment section 1313A and smaller than that of the second attachment section 1313B. Therefore, the disk section 1312 is positioned above the base section 1309, and the attachment section 1313 protrudes downward relative to the base section 1309. In addition, the pulley 1036 is disposed so that the first attachment section 1313A is positioned in the groove 1314B.
Wires 315C and 315D connected to the arm sections and inserted through the coils 1304 protrude from the fixed members 1311 disposed on both ends thereof. The wires 315C and 315D each wound around the outer periphery of the disk section 1312 are inserted into the disk section 1312 from the end section opposite the fixed member 1311 of the disk section 1312. A groove 1312A is provided on an upper surface of the disk section 1312, and the end sections of the wires 315C and 315D are exposed in the groove 1312A. In addition, the end sections of the wires 315C and 315D are fixed to the disk section 1312 by a wire-fixing members 1315. In this way, the wires 315C and 315D are connected to the pulley 1036 in one unit.
As illustrated in FIGS. 39 and 42, this state of a substantial disk wire cover 1307 is attached on the pulley 1036, and this state of wire-fixing member 1315 is pushed by the wire cover 1307. The diameter of the wire cover 1307 is greater than that of the disk section 1312 of the pulley 1036. The lateral surface formed in the circumferential direction of the wire cover 1307 covers the outside of the wires 315C and 315D wound around the pulley 1036.
A notch 1307A for passing the wire therethrough and a plane section 1307B making contact with the coil base 1305 are formed to the wire cover 1307. As illustrated in FIG. 42, the wires 315C and 315D protruding from the fixed member 1311 are wound around the pulley 1036 through the notch 1307A. The plane section 1307B makes contact with the protrusion 1305A formed on the coil base 1305. This limits the rotation of the wire cover 1307, i.e., rotation of the pulley 1036 does not cause the wire cover 1307 to rotate. Therefore, this prevents the wires 315C and 315D from making contact with the wire cover 1307 since the position of the notch 1307A does not change and correlation relative to the fixed member 1311 is maintained.
As illustrated in FIG. 39, the unit cover 1308 is provided with a main body 1316 greater than the base section 1309 of the coil base 1305; and four engagement holes 1317 extending downward from the vicinity of the periphery of the main body 1316. Attaching the unit cover 1308 from above the base section 1309 so that four engagement holes 1318 provided on the base section 1309 engage with engagement claws 1318 provides unitary assemble with the coil base 1305, thereby preventing the wire cover 1307 from floating.
Freeplay is provided between the engagement claws 1317 and the engagement holes 1318 in engaged state while engagement is maintained so that the engagement claws 1317 are movable by a predetermined length, e.g., several millimeters in the engagement hole 1318 in width direction and in longitudinal direction relative to the coil base 1305. Therefore, the unit cover 1308 unitarily assembled with the coil base 1305 is movable relative to the coil base 1305 by the predetermined length in the width direction and in the longitudinal direction with respect to the coil base 1305.
FIG. 43 illustrates the first wire unit 1301 and a first-mating attachment section 1354 provided to the first rotation mechanism 1351 of the operation section 1350. A pollution-preventive drape 1319 is placed between the first wire unit 1301 and the first-mating attachment section 1354 having the drape 1319 attached thereon. A procedure of attachment thereof will be explained later.
FIG. 44 is a cross-sectional view of FIG. 43. A protruding section 1310 of the coil base 1305 and the attachment section 1313 of the bending-wire unit 1303A protrude downward relative to the first wire unit 1301. The protruding section 1310 and the attachment section 1313 having substantial cylindrical shapes have taper tips that are gradually reduced in diameter. Partly notched outer peripheries excluding the tapered tips form second outer peripheries 1310A and 1313C that are parallel with the axial line of the attachment section 1313. The cross-sections, in both the protrusion section 1310 and the attachment section 1313, orthogonal to the axial line passing through a second outer periphery having a D-letter shape. Since the second outer peripheries 1310A and 1313C are planes having zero curvature.
Fitting-holes 1320A and 1320B for engaging with the first-mating attachment section 1354 are provided to the second outer peripheries 1310A and 1313C inward with respect to radial direction respectively. The direction of the fitting-hole 1320A, currently having an opening directed to the coil 1304, may be different. In addition, the direction of the fitting-hole 1320B of the attachment section 1313 varies based on the rotation of the pulley 1306. The wires 315C and 315D are connected with the pulley 1306 so that the arm sections are in parallel with the axial line of the insertion section of the endoscope in an initial state while the fitting-hole 1320B having an opening directed opposite the coil 1304 as illustrated in FIG. 44.
The first support section 1357 and the second support section 1358 having substantially the same structures have fixed sections 1362A and 1362B fixed to the insertion hole 1360 and the second insertion section 1356 respectively; and fitting members 1363A and 1363B enclosed in the fixed section 1362. The second support section 1358 having substantially the same structure and movement as those of the first support section 1357 is explained as follows.
The substantial cylindrical fixed section 1362B of the second support section 1358 is attached to an outer periphery of the second insertion section 1356 so that axial lines cross orthogonally with each other. In addition, maneuvering amount of the first rotation mechanism 1351 is set to be an initial state, i.e., zero when the axial line of the second support section 1358 is in parallel with the line obtained by connecting the axial line of the insertion hole 1360 and the axial line of the second insertion section 1356. The substantial cylindrical fitting protrusion 1363B having a diameter smaller than that of the fixed section 1362B is enclosed in the fixed section 1362B. An urging member 1364B, e.g., a spiral spring placed between the fixed section 1362B and the fitting protrusion 1363B urges the fitting protrusion 1363B toward the second insertion section 1356. The wall surface of the second insertion section 1356 partially cut corresponding to the fixed section 1362B attached thereto allows the fitting protrusion 1363B to protrude into the second insertion section 1356 by a predetermined length by the urging force of the urging member 1364B. A fitting protrusion 1365B having a shape engageable with the fitting-hole 1320B is provided to the tip of the fitting protrusion 1363B.
FIGS. 45 and 46 are cross-sectional views showing a fitting-hole 1320B of the attachment section 1313, and movement of the fitting protrusion 1363B of the second support section 1358. As previously explained, the outer periphery of the attachment section 1313 corresponding to the part having the fitting-hole 1320B provided thereon has the flat second outer periphery 1313C. In addition, the second outer periphery 1313C in the vicinity of an outer arch periphery 1313D of the attachment section 1313 is formed to have a slightly curved surface which is convex outwardly in radial direction.
As illustrated in FIG. 45, when the fitting-hole 1320B does not face the fitting protrusion 1365B of the fitting protrusion 1363B, and when the fitting protrusion 1365B makes contact with the second outer periphery 1313C, a part of the urging force F acting on the fitting protrusion 1363B and disintegrated into tangential directions relative to the outer periphery 1313D of the attachment section 1313 acts as torque T which causes the attachment section 1313 to rotate in the direction in which the fitting-hole 1320B approaches to the fitting protrusion 1365B. Accordingly, the attachment section 1313 rotates, and as illustrated in FIG. 46, the fitting-hole 1320B faces and engages with the fitting protrusion 1365B; therefore, the second insertion section 1356 and the attachment section 1313 are supported in one unit.
In addition, the torque T causes the attachment section 1313 to rotate, and the reaction force of the torque T causes the second support section 1358 and the second insertion section 1356 to rotate to some extent since the pulley 1036 is supported significantly by the tension of the wire wound therearound in the present embodiment. In addition, the rotation of the attachment section 1313 relative to the second support section 1358 causes the fitting-hole 1320B to face and engage with the fitting protrusion 1365B. Also, the protrusion section 1310 of the coil base 1305 and the first insertion section 1355 are supported in the same manner. However, the insertion hole 1360 incapable of rotating relative to the base section 1359 does not make the aforementioned relative rotation; therefore, the fitting protrusion 1365A fits into the fitting-hole 1320A.
FIG. 47 shows the second wire unit 1303 except for the unit cover 1308 and the wire cover 1307. The shape of the hole section 1314 of the coil base 1305 of the second-bending-wire unit 1303 having substantially the same structure as that of the first wire unit 1301 is set so that the pulley 1306 can move opposite the coil 1304 by a predetermined distance (in a direction indicated by an arrow).
The second-bending-wire unit 1303 is attached to a third mating-attachment section 1366 detachably. The third mating-attachment section 1366 is provided to a mating second bending-operation mechanism 1353 as illustrated in FIG. 37. The third mating-attachment section 1366 has the substantially same structure as that of the aforementioned first-mating attachment section 1354. A second insertion section having the pulley 1306 inserted therethrough and incapable of rotating relative to the first insertion section is attached so that the second insertion section can move toward a second-supporting section by a predetermined distance. The second insertion section of the third mating-attachment section 1366 is connected to a slider 1368 provided to an operation stick 1367 via a transmission member, e.g., a wire, etc. which is not shown in the drawing. Drawing the slider 1368 proximally causes the second insertion section and the pulley of the second-bending-wire unit 1303 to move proximally, thereby bending the second bending section 308 of the arm section (see FIG. 36).
To start with, six wire units having wires extending from the arm sections 302A and 302B connected thereto are connected to the operation section 1350 to allow the operation section 1350 to operate the arm sections 302A and 302B. The sterilized components in this state including the arm sections 302A and 302B which are about to be inserted into body cavity of a patient must be prevented from making contact with unsterilized operation section 1350 as much as possible.
Subsequently, the first wire unit 1301 is attached to the first-mating attachment section 1354. At the time of attachment, the unit cover 1308 of each wire unit is grasped and pushed so that the protrusion section 1310 of the coil base 1305 is inserted into the insertion hole 1360 of the first insertion section 1355; and the attachment section 1313 of the pulley 1036 is inserted into the second insertion section 1356.
Pushing the protruding section 1310 and the attachment section 1313 which axial lines are separated from each other to some extent causes the protruding section 1310 and the attachment section 1313 to be inserted and introduced coaxially into the insertion hole 1360 and the second insertion section 1356 since this state of the tips of the protruding section 1310 and the attachment section 1313 are tapered and since the insertion hole 1360 and the second insertion section 1356 are chamfered.
Furthermore, movement of the coil base 1305 relative to the unit cover 1308 to some extent absorbs operational shift caused by inaccurate attachment movement corresponding to the positions of the insertion hole 1360 and the second insertion section 1356 since the unit cover 1308 and the coil base 1305 are in one unit so that the unit cover 1308 and the coil base 1305 can make relative movement to some extent in the longitudinal direction and the width direction with respect to the unit cover 1308. This results in facilitating the insertion of the protrusion section 1310 and the attachment section 1313 into the insertion hole 1360 and the second insertion section 1356.
Further compressing the unit cover 1308 while the protrusion section 1310 and the attachment section 1313 are inserted into the insertion hole 1360 and the second insertion section 1356 causes the fitting-hole 1320A of the protrusion section 1310 to engage with the fitting protrusion 1365A of the first support section 1357 as illustrated in FIG. 49. Simultaneously, the movement of the attachment section 1313 relative to the second support section 1358 causes the fitting-hole 1320B to face and engage with the fitting protrusion 1365B. Further simultaneously, the initial state of the arm sections 302A and 302B is correlated to the initial state of the first rotation mechanism 1351 of the operation section 1350. That is, the correlation of the first wire unit 1301 relative to the first-mating attachment section 1354 is fixed so that initializing the first rotation mechanism 1351 causes the arm sections 302A and 302B to be initialized.
The torque T can cause the pulley 1036 to move relative to the second support section 1358 desirably regardless of the urging member 1364B urging the fitting protrusion 1363B since the [second outer periphery] plane section 1313C provided corresponding to the fitting-hole 1320B of the attachment section 1313 has curvature smaller than that of a cylindrical part including the outer periphery 1313D.
Maneuvering the operation section 1350 causes the second insertion section 1356 to be rotated, thereby rotating the pulley 1036, supported by the second support section 1358 in one unit with the second insertion section 1356, synchronously since the first wire unit 1301 is attached to the first-mating attachment section 1354 in one unit.
Distance L1 between the axial line of the insertion hole 1360 of the first insertion section 1355 and the axial line of the second insertion section 1356 is set to be longer than the distance L2 between the axial line of the protruding section 1310 and the axial line of the attachment section 1313 while the pulley 1306 makes close contact to the wall surface of the hole section 1314 in the vicinity (left-hand side in FIG. 44) of the coil 1304 which is provided to the base section 1309 of the coil base 1305 as shown in FIG. 44. Therefore, attaching the first wire unit 1301 to the first-mating attachment section 1354 in one unit causes the pulley 1036 to move in the vicinity of the round hole 1314A, thereby obtaining a space G between the wall surface of the hole section 1314 in the vicinity of the coil 1304 and the pulley 1036, and obtaining non-contact state between the base section 1309 and the attachment section 1313. Accordingly, it can prevent the friction force produced between the wall surface of the hole section 1314 in the vicinity of the coil 1304 and the pulley 1306 from providing heavier rotational operation of the first rotation mechanism 1351.
Furthermore, FIG. 46 shows that the attachment section 1313 makes contact with the fitting protrusion 1363B not only at the fitting-hole 1320B but also at the plane section 1313C around the fitting-hole 1320B while the fitting protrusion 1365B engages with the fitting-hole 1320B. Therefore, the rotation of the second support section 1358 synchronous with the rotation of the pulley 1036 increases the area of the [second outer periphery] plane section 1313C making contact with the fitting protrusion 1363B, thereby reducing stress acting on the fitting protrusion 1365B and preventing the fitting protrusion 1365B and the fitting-hole 1320B from being damaged. It should be noted that damage of the fitting protrusion 1365B and the fitting-hole 1320B can be prevented more desirably by setting dimensions, e.g., diameter of the fitting protrusion 1365B so that the area making contact with the [second outer periphery] plane section 1313C therearound is greater than the area of the end surface of the fitting protrusion 1365B.
After the manipulation, the used procedure instrument 1322 is removed from the operation stick 1367 and each wire unit is removed from each mating attachment section. The removals necessitate grasping the unit cover 1308 and retracting the wire units in parallel with the axial lines of the protrusion section 1310 and the attachment section 1313. Accordingly, the tapered fitting-holes 1320A and 1320B cause the fitting members 1363A and 1363B of the first support section 1357 and the second support section 1358 to retract gradually toward the fixed sections 1362A and 1362B, thereby allowing the wire units to be removed.
The operation section 1350 having too complex structure to be sterilized is detachable from the wires for operating the arm sections 302A and 302B that are inserted into a human body in the medical treatment endoscope 1300 according to the present embodiment provided with wire units 1301, 1302, and 1303, and mating attachment sections 1354, 1366, and 1369. Therefore, manipulations in more sanitary conditions can be conducted by rendering the arm section or an endoscope section a sterilized throwaway unit or by sterilizing them for reuse.
Also, each wire connected to each wire unit will hardly be contaminated by the operation section 1350 since a part of the unsterilized operation section 1350 does not protrude from the opening 1321 of the drape 1319 covering the operation section 1350, and since sterilized protrusions, e.g. the protruding section 1310 or the attachment section 1313 in the vicinity of each wire unit 1301, 1302, and 1303 are inserted into the mating attachment sections 1354, 1366, and 1369 inside of the drape 1319 and fixed there respectively.
Also, each wire unit having the substantially same shape with each other can reduce component variation for production, thereby enabling low-cost mass-production of throwaway unit.
For example, FIG. 50 shows a modified example in which the second outer periphery may be a second outer periphery 1313E having a curvature smaller than that of the outer periphery including the outer periphery 1313D in contrast to the aforementioned embodiment explaining the example in which the [second outer periphery] plane section 1313C having the fitting-hole 1320B provided thereon is flat in the second attachment section 1313B of the pulley 1036. Torque T produced similarly in this case can provide smooth fitting of the fitting protrusion 1365B into the fitting-hole 1320B.
Also, the wire units 1301A, 1302A, 1303A, 1301B, 1302B, and 1303B can be connected by a connection member 1370 having a constant expandability, e.g., plastic or textile, etc., corresponding to mating attachment sections 1354, 1369, and 1368 in modified examples shown in FIGS. 51 and 52. This can prevent erroneous attachment to a mating attachment section not corresponding to each wire unit. In addition, since there is no longer a need for covering the whole operation section with the drape manipulation-related cost can be reduced.
In addition, the number of operation units may be varied to desirably correspond to the number of the arms of the arm section in contrast to the aforementioned embodiment explaining the example in which the operation section is provided with the first operation unit and the second operation unit. Also, a configuration free from the second-bending-wire unit and the third mating attachment section may be adaptable in a case where the arm section is not provided with the second bending part 308.
FIG. 53 is a view showing the structure of a operation section 1400 of a medical treatment endoscope according to the present embodiment. The medical treatment endoscope is provided with the operation section 1400, and the endoscope insertion section 502 and the endoscope insertion section 503 of the first embodiment. Basic functions of the operation section 1400 are the same as those of the operation section 520 of the first embodiment.
The operation section 1400 has a base frame 1500 having a first operation unit 1501A and a second operation unit 1501B attached thereto (see FIG. 56).
The first operation unit 1501A and the second operation unit 1501B are rotative along a horizontal plane around rotational centers Xa and Xb respectively so that an opening-angle-adjustment mechanism 1502 adjusts opening angle θ defined by these units based on the physical constitution of an operator who maneuvers the first operation unit 1501A and the second operation unit 1501B.
The first operation unit 1501A has an operation stick 1503A into which an operation section (not shown in the drawing) of the procedure instrument is inserted. The procedure instrument is passed through the first arm section. The operation stick 1503A supports the operation section of the procedure instrument so that the operation section of the procedure instrument is capable of extending and retracting in the axial line direction and capable of tilting in four directions with respect to the axial line. The second operation unit 1501B has an operation stick 1503B into which an operation section (not shown in the drawing) of the procedure instrument is inserted. The procedure instrument is passed through the second arm section. The operation stick 1503B supports the operation section of the procedure instrument so that the operation section of the procedure instrument is capable of extending and retracting in the axial line direction and capable of tilting in four directions with respect to the axial line.
Aside from symmetricity, the basic function of the first operation unit 1501A is the same as that of the second operation unit 1501B. Therefore, the second operation unit 1501B will be omitted from the following explanation and the first operation unit 1501A will be explained.
A first housing 1504A having the first operation unit 1501A assembled thereinto is supported by the base frame 1500 so that the first housing 1504A is capable of rotating along the horizontal plane around the Xa. A second housing 1504B having a second operation unit 1501B assembled thereinto is supported by the base frame 1500 so that the second housing 1504B is capable of rotating along the horizontal plane around the Xb.
The housings 1504A and 1504B are made of cast or forged metal, e.g., aluminum. It is preferable that various brackets and stays should be manufactured unitarily to reduce the number of components used therefor.
A first rear link 1505A extends from the first housing 1504A proximally. A second rear link 1505B extends from the second housing 1504B proximally. The links 1505A and 1505B have an elongated hole formed to the rear end section respectively. A fixture screw 1506 is inserted into the elongated holes while both links are overlapped. Providing screw engagement to the tip of the fixture screw 1506 causes both links 1505A and 1505B to be joined.
In the present embodiment, back-and-forth direction is defined based on an operator who operates the operation section 1400, i.e., the left-hand side in FIG. 56 indicates forward direction, and the right-hand side in FIG. 56 indicates backward direction.
A first front link 1507A extends from the first housing 1504A distally. A second front link 1507B extends from the second housing 1504B distally. The links 1507A and 1507B have an elongated hole formed to the front end section respectively. A pin 1508 is inserted into the elongated holes while both links are overlapped. A male screw is formed on the tip of the pin 1508 engaging with a nut 1509 screwed thereonto.
The base frame 1500 has a first arch groove 1510A formed around the rotational center Xa of the first housing 1504A. A fixture screw 1511A is inserted into the first arch groove 1510A. The tip of the fixture screw engages with the first housing 1504A. The base frame 1500 has a second arch groove 1510B formed around the rotational center Xb of the first housing 1504A. A fixture screw 1511B is inserted into the second arch groove 1510B. The tip of the fixture screw engages with the second housing 1504B.
An adjustment screw 1512 extending distally and capable of rotating is attached at the center in bilateral direction. Screw engagement is provided between the substantial center part of the pin 1508 and the adjustment screw 1512.
Loosening the fixture screws 1506, 1511A, and 1511B, and the nut 1509 and 1510 and rotating the adjustment screw 1512 cause the pin 1508 to make proximal and distal movements along the axial line of the adjustment screw 1512. The first housing 1504A and the second housing 1504B are rotated along a horizontal plane around the Xa and Xb respectively along with the movement of the pin 1508, and the tilting angles thereof are adjusted by the same degree simultaneously. The fixture screws 1511A, 1151B, and the nut 1509 are fastened upon ending the adjustment.
That is, the opening-angle-adjustment mechanism 1502 includes: the links 1505A and 1507; the fixture screw 1506; the adjustment screw 1512; and the arch grooves 1510A and 1510B, etc.
Reference numeral 1515 in FIG. 57 indicates a holder for holding an endoscope operation section. The holder 1515 is attached to a support plate 1516 so that the holder 1515 is movable along the longitudinal direction of the support plate 1516 supporting the holder 1515. An arch plate 1517 is attached to the proximal end of the support plate 1516. The arch plate 1517 attached to the base frame 1500 via a pin 1518 is rotable. An adjustment screw 1519 and a spring 1520 for pressing an arch plate toward a head part of a adjustment screw 1519 on an outer periphery of the adjustment screw 1519 are provided between a connection plate 1517 a and the arch plate 1517 attached to the base frame 1500. Rotation of the arch plate 1517 and rotation of the holder 1515 supported by the arch plate 1517 are adjusted along a vertical plane by rotating the adjustment screw 1519. That is, movement of the holder 1515 for holding the endoscope operation section is adjustable in the longitudinal direction of the support plate 1516. In addition, the angle of the holder 1515 is adjustable along the vertical plane around the pin 1518.
Reference numeral 1521 in FIG. 58 indicates a vertical stopper. A first rotational mechanism 1525 provided to the first operation unit 1501A supports the operation stick 1503A rotatively along the horizontal plane. The first rotational mechanism 1525 transfers the variation of angle of its operation stick along the vertical plane to a first bending part of the first arm section of the insertion section of the endoscope via an operation wire. The rotational range of the operation stick 1503 along the vertical plane in the first rotational mechanism 1525 is determined by a rotational member (not shown in the drawing) rotating in accordance with the rotation of the operation stick 1503 and abutting vertical oblique sections 1521 a and 1521 b formed to the tips of the vertical stopper 1521. Loosening an adjustment screw 1522 and adjusting the movement of the vertical stopper 1521 along an elongated hole in a horizontal direction change vertical contact height positions of a rotational member which rotates in accordance with the rotation of the operation stick 1503 and makes contact with the oblique sections 1521 a and 1521 b simultaneously. This provides proportional adjustment of a rotational range of the operation stick 1503 in the first rotational mechanism in a vertical direction along the vertical plane.
Reference numeral 1531 in FIG. 58 indicates a horizontal stopper. A second rotational mechanism 1526 provided to the first operation unit 1501A supports the operation stick 1503A rotatively along the horizontal plane. The second rotational mechanism 1526 transfers the variation of angle of its operation stick along the horizontal plane to a first bending part of the first arm section of the insertion section of the endoscope via an operation wire. The rotational range of the operation stick 1503A along the horizontal plane in the second rotational mechanism 1526 is determined by a rotational member (not shown in the drawing) rotating in accordance with the rotation of the operation stick 1503A and abutting horizontal oblique sections formed to the tips of the horizontal stopper 1531. Loosening an adjustment screw 1532 and adjusting the movement of the horizontal stopper 1531 in a vertical direction along an elongated hole change horizontal positions of the rotational member rotating in accordance with the rotation of the operation stick 1503A and making contact with oblique sections simultaneously. This provides proportional adjustment of rotational range of the operation stick 1503 in the second rotational mechanism in horizontal direction along the horizontal plane.
Angle-transferring mechanisms incorporated in the first rotational mechanism 1525 and the second rotational mechanism 1526 of the first operation unit 1501A transfer variation in angle of the operation stick 1503A along the vertical plane and variation in angle of the operation stick 1503A along the vertical plane to the first bending part of the first arm section of the insertion section of the endoscope.
The angle-transferring mechanism will be explained with reference to an example of a mechanism incorporated into the second rotational mechanism. Reference numeral 1540 in FIG. 59 indicates a bracket having an operation stick attached thereto. As shown in FIG. 60, the bracket 1540 has a bending end having an opening and is capable of being inserted into a housing-supporting section formed in the housing 1504A from the other end thereof. A fan-shaped inner-teeth gear 1451 is attached to the bracket 1540. The bracket 1540 and the inner-teeth gear 1451 rotate unitarily (see FIGS. 62 and 63) around the axial line indicated by reference symbol Xc shown in FIG. 62. A spur gear 1542 engages with the inner-teeth gear 1451. The spur gear 1542 is attached to a shaft 1543 provided to the engagement hole 1318 via a bearing rotatively. The operational angle of the inner-teeth gear 1451 increased based on the difference between the pitch circle diameter of the inner-teeth gear 1451 and the pitch circle diameter of the spur gear 1542 is transferred to the spur gear (inputting gear) 1542. In a case where an operation wire 1547 having a small diameter must be used, an extra length of extension must be taken into account. Therefore, the operation wire must be pulled and operated in accordance with such an extra extension. In such a case, it is advantageous to transfer the increased operational angle of the aforementioned inner-teeth gear 1451 to the spur gear 1542.
That is, the inner-teeth gear 1451 and the spur gear 1542 constitute an input-quantity-increasing mechanism for increasing input quantity into an input pin (rotation-inputting member) 1544 which will be explained later.
Rotation of the spur gear 1542 is transferred from the input pin 1544 provided to the spur gear 1542 to an output pin 1545, and further transferred from there to a pulley 1546. Rotation of the pulley (a winding member for winding an operation wire) 1546 having the operation wire 1547 wound therearound is transferred to the first bending part of the first arm section of the insertion section of the endoscope via the operation wire 1547 (see FIG. 66).
A torque limiter 1548 transfers a force applied to the input pin 1544 but not exceeding a predetermined value to an output pin 1545. The torque limiter 1548 will be explained. Attached to the shaft 1543 rotatively are: a first rotation-transmitting member 1551 for receiving a rotational driving force in direction Ya (clockwise direction in FIG. 62) around the shaft 1543 of the input pin 1544; and a second rotation-transmitting member 1552 for receiving a rotational driving force in direction Yb (counterclockwise direction in FIG. 61) of the input pin 1544. A tension spring (connection section) 1553 is disposed between the first rotation-transmitting member 1551 and the second rotation-transmitting member 1552. The spring constant of the tension spring 1553 is set to be the same as the spring constant of the operation wire 1547 or lower. Accordingly, the spring constant obtained by merging the spring constant of the tension spring 1553 with the spring constant of the operation wire 1547 is set to be half the spring constant of a singular operation wire 1547 or less than that. Therefore, applying a force having predetermined value or greater to the operation wire 1547 provides the substantially same level of elastic deformation to the operation wire 1547 and the tension spring 1553 of the torque limiter. This enables control of tension applied to the operation wire 1547. In addition, the tension spring 1553 applies rotational force to the first rotation-transmitting member 1551 and the second rotation-transmitting member 1552 so that jaw sections 1555 a of the first rotation-transmitting member 1551 making contact with the input pin 1544 faces jaw sections 1565 a of the second rotation-transmitting member 1552 making contact with the input pin 1544.
The first rotation-transmitting member 1551 is provided with an upper half member 1555 having the jaw sections 1555 a making contact with the input pin 1544; and a lower half member 1556 having a hook section 1556 a engaging with the end section of the tension spring 1553. The upper half member 1555 and the lower half member 1556 are capable of rotating around the shaft 1543. An adjustment screw 1557 engages with a protrusion 1556 b of the upper half member 1555. The tip of the adjustment screw 1557 makes contact with a pin 1558 attached to the lower half member 1556. In addition, rotating the adjustment screw 1557 causes the angle defined by the upper half member 1555 and the lower half member 1556 to be adjusted. An arch groove 1555 c, not shown in the drawing, of the upper half member 1555 upon ending the adjustment is inserted. Fastening a fixture screw 1559 having the tip engaging with the lower half member 1556 fixes the angle defined by the upper half member 1555 and the lower half member 1556. The substantial half of the head section of the pin 1558 is cut to prevent interference between the pin 1558 and the upper half member 1555.
The second rotation-transmitting member 1552 is provided with an upper half member 1565 having the jaw sections 1565 a making contact with the input pin 1544; and a lower half member 1566 having a hook section 1566 a engaging with the tip of the tension spring 1553. The upper half member 1565 and the lower half member 1566 are capable of rotating around the shaft 1543. An adjustment screw 1567 engages with a protrusion 1566 b of the upper half member 1565. The tip of the adjustment screw 1567 makes contact with a pin 1568 attached to the lower half member 1566. In addition, it is configured that rotating the adjustment screw 1567 causes relative angle position between the upper half member 1565 and the lower half member 1566 to be adjusted. An arch groove of the upper half member 1565 upon ending the adjustment is inserted. Fastening a fixture screw having the tip engaging with the lower half member 1566 causes relative angle position between the upper half member 1565 and the lower half member 1566.
It should be noted that the adjustment screws 1557 and 1567 prevent an operator from carrying out an erroneous or inadvertent operation since the adjustment screws 1557 and 1567 are configured to be disposed in the deep recesses of properly assembled components.
Maneuvering the operation stick 1503 of the aforementioned torque limiter 1548 causes the input pin 1544 to rotate in the direction Ya via the bracket 1540, the inner-teeth gear 1451, and the spur gear 1542, and causes the input pin 1544 to push and rotate the first rotation-transmitting member 1551 in the same direction. The rotation of the first rotation-transmitting member 1551 is transferred to the second rotation-transmitting member 1552 via the tension spring 1553. Subsequently, rotating the second rotation-transmitting member 1552 causes the jaw sections 1565 a to push the output pin 1545, thereby rotating the output pin 1545 in the same direction.
The elastically deforming tension spring 1553 absorbs torque having a predetermined value or greater produced by any force applied onto the output pin 1545 and acting on the input pin 1544, and prevents the force having the predetermined value of torque or greater from transferring therefrom since this state of tension spring 1553 transfers rotational force between the first rotation-transmitting member 1551 and the second rotation-transmitting member 1552.
That is, the torque limiter 1548 constitutes a force-attenuating apparatus which attenuates a force exceeding a predetermined value and acting on the input pin (rotation-inputting member) 1544, and transfers a constant value of force to the output pin (rotation-outputting member) 1545.
The function of the torque limiter 1548 in association with the rotation of the input pin 1544 is common in directions Ya and Yb.
The torque limiter 1548 disposed inward relative to the outer diameter of the spur gear 1542 can minimize inertia of the torque limiter 1548. Therefore, the inertia provided by the torque limiter 1548 can attenuate the tension produced by activating an operation section rapidly and stopping the operation section by using a stopper and applied to the operation wire 1547.
The pulley 1546 is the same as that of the previously explained second embodiment because the pulley 1546 is disposed between a lower coil base 1571 and an upper unit cover 1572 rotatably and attached to a mating attachment section 1574 in the form of a wire unit 1573.
The mating attachment section 1574 is configured to stop rotation upon rotating by a predetermined angle and colliding a stopper member which is not shown in the drawing. This prevents the inertia applied to the torque limiter 1548 and the mating attachment section 1574 from further transferring to the operation wire 1547.
A second-bending-section-operating mechanism is incorporated in the first operation unit 1501A. The second-bending-section-operating mechanism maintains a second bending section of the first arm section of the insertion section of the endoscope in a straight or bending state. Extending or retracting a second bending slider 1580 as shown in FIG. 53 causes a second-bending-section-operating mechanism to be maneuvered. Drawing (i.e., retracting) the second bending slider 1580 proximally causes the second bending section of the first arm section to be in a bending state; and extending ahead thereof causes the second bending section of the first arm section to be in a straightened state. A locking mechanism annexed to the second bending slider 1580 maintains the retracted state of the second bending slider 1580. Explanation thereof will be omitted here.
Operation force transferred via an operation wire upon extending or retracting the second bending slider 1580 will be explained as follows.
As shown in FIG. 53, an operation wire 1581 having a protection coil sheath 1582 surrounding the outer periphery thereof extends from the second bending slider 1580. The tip of the operation wire 1581 is connected to a second bending-operation-relay section 1583 attached to a first housing 1504A. A wire-protection mechanism 1584 incorporated in the second bending-operation-relay section 1583 specifies the upper limit of tension transferred and applied to the operation wire 1581 and transfers only the upper limit of tension to the second-bending-wire unit 1303 in the arm section in a case where the tension exceeds the upper limit. In addition a tension-direction-conversion mechanism 1585 incorporated in the second bending-operation-relay section 1583 converts the direction of the tension of the operation wire 1581 by 180 degrees and transfers the converted tension to a second bending wire 1586.
The second bending-operation-relay section 1583 having the wire-protection mechanism 1584 and the tension-direction-conversion mechanism 1585 incorporated therein is disposed separate from the second bending slider 1580.
The wire-protection mechanism 1584 will be explained as follows. As shown in FIG. 70, reference numeral 1590 indicates a pipe attached to the second bending-operation-relay section 1583. A wire-insertion member 1591 attached to the end section of the pipe 1590 serves as a stopper for stopping a coil sheath 1592. The tip of the operation wire 1581 is inserted into the wire-insertion member 1591. The tip of the operation wire 1581 is joined with the wire-fixture member 1592 having a connection bar 1593 attached thereto. The connection bar 1593 extends in the direction orthogonal to the operation wire 1581. The both ends of the connection bar 1593 protrude outward from an elongated holes 1590 a provided on lateral sides of the pipe 1590. The end sections of the connection bar 1593 protruding laterally make contact with a spring-receiver plate 1594. The spring-receiver plate 1594 enclosed in a spring-enclosure casing 1595 is capable of moving in the axial line direction of the pipe 1590. A compression coil spring 1598 is enclosed in the spring-enclosure casing 1595 between a right plate section 1597 a and the spring-receiver plate 1594 in FIG. 70.
Accordingly, the second bending slider 1580 can retract the operation wire 1581 proximally at the center position of the pipe 1590 in a well-balanced manner without tilting in the left-hand direction or in the right-hand direction since the operation wire 1581 is passed into the center of the pipe 1590, and both ends of the connection bar 1593 attached to the tip of the operation wire are made to contact the spring-receiver plate 1594.
The spring-enclosure casing 1595 fit around the pipe 1590 together with the spring-receiver plate 1594 and the compression coil spring 1598 is capable of moving in the axial line direction of the pipe 1590.
As shown in FIGS. 71 and 72, the spring-enclosure casing 1595 has a separatable structure including an L-letter-shaped left half member 1596, an L-letter-shaped right half member 1597, and a stopper 1599 disposed in the right-hand side relative to the an L-letter-shaped right half member 1597. This case is advantageous for enclosing the compression coil spring 1598 having a significant pre-tension force into the spring-enclosure casing 1595.
The compression coil spring 1598 is disposed between the L-letter-shaped left half member 1596 and the L-letter-shaped right half member 1597 separated previously relative to an assembled position. Using an elongated hole 1597 b formed on the bottom section of the right half member 1597 and a setting screw 1599 having a tip engaging with the left half member 1596 allow rough positioning of the left half member 1596 and the right half member 1597 in a separated state. The left half member 1596 and the right half member 1597 are brought to approach with each other by using a tool, e.g. a vice upon enclosing the compression coil spring 1598 between the left half member 1596 and the right half member 1597.
Engaging this state of protruding section 1596 a formed on the bottom section of the left half member 1596 with an edge section of the elongated hole 1597 b formed on the bottom section of the right half member 1597 provides a temporary fixture as shown in FIG. 70. Subsequently fastening the setting screw 1599 facilitates setting of the compression coil spring 1598 in the spring-enclosure casing 1595. Connection holes 1596 b are formed on both ends of a lateral plate section of the left half member 1596. The two ends of a common connection wire 1600 are inserted to the connection holes 1596 b and fixed thereto (see FIG. 67).
The tension-direction-conversion mechanism 1585 will be explained next. A sleeve 1611 attached on the outer periphery of the pipe 1590 is capable of moving along the axial line direction of the pipe 1590 as shown in FIG. 70. That is, the pipe 1590 has multi-functions for supporting the freely movable compression coil spring and a freely movable spring enclosure case; and for supporting the freely-movable sleeve 1611 along the axial line direction.
A pulley-supporting section 1613 for supporting a pulley 1612 is attached to the sleeve 1611. A spring receiver 1614 protruding downward is provided to the pulley-supporting section 1613. A returning tension spring 1615 is placed between the spring receiver 1614 and the bottom end of the spring receiver plate 1594.
On the other hand, laterally disposed and freely rotatable idle pulleys 1616 provided to the second bending-operation-relay section 1583 are supported to place the pipe 1590 in the middle therebetween. Two ends of the connection wire 1600 are wound around the laterally disposed idle pulleys 1616 respectively. The middle part of the connection wire 1600 is wound around the pulley-supporting section 1613.
That is, an end of the connection wire 1600 is attached to an end of the lateral plate section of the left half member 1596 of the spring-enclosure casing 1595. After that, the connection wire 1600 is wound around one of the laterally disposed idle pulleys from downward to upward. After that, the connection wire 1600 is wound around the pulley-supporting section 1613 at an upper position of the idle pulley 1616. After that, the connection wire 1600 is wound around the other idle pulley 1616 from upward to downward, and then the connection wire 1600 is attached to the other end of the lateral plate section of the left half member 1596. A freely-rotatable pulley 1617 serving as a wire unit 1620 and having the second bending wire 1586 wound therearound is disposed between a coil base 1618 provided beneath the pulley and an upper unit cover 1619 in the pulley-supporting section 1613 similarly to the previously explained second embodiment.
Movement of the second-bending-section-operating mechanism will be explained. Retracting the second bending slider 1580 proximally causes the spring receiver plate 1594 to be drawn in a right-hand direction in FIG. 70 via the operation wire 1581 and the connection bar 1593. This state of the spring receiver plate 1594 causes the spring-enclosure casing 1595 to move in a right-hand direction via the compression coil spring 1598. An end of the connection wire 1600 attached to the left half member 1596 of the spring-enclosure casing 1595 is drawn in the direction the same as that of the movement of the spring-enclosure casing 1595.
The end of the connection wire 1600 drawn by the left half member 1596 causes the idle pulley 1616 to rotate, thereby converting the drawing direction of the connection wire 1600 by 180 degrees and moving the pulley-supporting section 1613 toward the left-hand of FIG. 70. The movement of the pulley 1617 attached to the upper section of the moving pulley-supporting section 1613 results in causing the second bending wire 1586 wound around the pulley 1617 to be drawn in the same direction. That is, the condition shown in FIG. 73 transfers to the condition shown in FIG. 74. It should be noted that the extent of moving the pulley 1617 is determined corresponding to extra extension of the second bending wire 1586 having a reduced diameter.
It should be noted that the direction of the tension of the operation wire 1581 in this state is converted by 180 degrees while transmission loss is maintained as low as possible via the idle pulley 1616.
Elastic deformation of the compression coil spring 1598 upon applying a predetermined value of tension or greater prevents load not less than a predetermined value from transferring from the operation wire 1581 to the connection wire 1600 since the spring-enclosure casing 1595 is drawn not by the operation wire 1581 directly but via the compression coil spring 1598.
This prevents damage of a wire having a diameter smaller than a conventionally used wire and having a less significant strength because excessive tension is not applied to the second bending wire 1586 downstream thereof. It should be noted that desirable spring constant of the compression coil spring 1598 may be set in accordance with tensile strength of the second bending wire 1586.
It should be noted that unlocking (omitted from the drawing) tension drawing the second bending slider 1580 proximally causes the pulley-supporting section 1613 and the spring-enclosure casing 1595 to move relative to each other by the urging force of the returning tension spring 1615, thereby resulting in restoring the condition shown in FIG. 73 from the condition shown in FIG. 74.
Also, this does not limit the configuration in which the wire-protection mechanism 1584 and the tension-direction-conversion mechanism 1585 are disposed in this order with respect to the direction for transferring an operational force applied to the operation wire 1581. Conversely, the wire-protection mechanism 1584 may be disposed upstream with respect to the direction for transferring operational force; and the tension-direction-conversion mechanism 1585 may be disposed downstream with respect to the direction for transferring an operational force.
FIGS. 75 and 76 show a member which constitutes a part of the first rotation mechanism which transfers the movement of the operation stick 1503A along the vertical plane to the first bending part of the first arm section of the insertion section of the endoscope in the first rotation mechanism. Reference numeral 1630 in these drawings indicates a ring into which the operation stick is inserted therethrough. Two support rods 1631 are attached to lateral ends of the ring 1630. The inner-teeth gear 1451 is fixed to one support rod 1631. A counter weight 1632 is attached to the inner-teeth gear 1451 opposite the tooth section 1541 a with respect to the inner-teeth gear 1451. The counter weight 1632 prevents unexpected tilting of the operation stick 1503A caused by imbalance of weight associated with a procedure instrument inserted into the operation stick 1503A and the operation stick 1503A inserted into the ring 1630.
As shown in FIG. 77, a bearing receiver 1634 supporting a bearing 1633 which is set between the support rod 1631 and the bearing receiver 1634 is attached to the other support rod 1631 supporting the ring by a bracket which is not shown in the drawing. A bearing-pressing section 1635 is provided in the bearing receiver 1634. The pressing force of a disk spring 1636 set between the bearing receiver 1634 and the bearing-pressing section 1635 causes the bearing-pressing section 1635 to press the bearing 1633 laterally.
The structure in which the disk spring 1636 is disposed on only one side of the bearing 1633 readily simplifies the structure and facilitates assembly work more desirably than a structure in which disk springs 1636 are disposed in lateral two sections.
Movement of an operation section of a medical treatment endoscope having the aforementioned structure will be explained next.
To start with, six wire units are connected to the operation section to allow the operation section to operate the arm section of the insertion section of the endoscope. Erroneous setting of wire units onto bases can be prevented since correlation of the base of the wire unit for operating the first bending part of the arm section relative to the base of the wire unit for operating the second bending part of the arm section is differentiated with respect to the direction in which the wire units are extended or retracted as shown in FIG. 53. Necessary procedure instruments upon setting the wire units are inserted into the first operation unit 1501A and the second operation unit 1501B respectively. Subsequently, the procedure instruments are inserted into a body cavity from natural orifices, e.g., mouth or nasal cavities, etc. of a patient.
An opening angle θ defined by the first operation unit 1501A and the second operation unit 1501B is adjusted by the opening-angle-adjustment mechanism 1502 based on the physical constitution of the operator prior to operating the operation sticks 1503A and 1503B.
Accordingly, the fixture screws 1506, 1511A and 1511B, and the nuts 1509 and 1510 are loosened. Subsequently, the adjustment screw 1512 is rotated, and the pin 1508 is moved along the axial line of the adjustment screw 1512 in the back-and-forth direction. The front ends of the first front links 1507A and 1507B engaging with the pin 1508 move in the back-and-forth direction, thereby resulting in causing the first housing 1504A and the second housing 1504B to rotate around the rotational centers Xa and Xb respectively along the horizontal plane. The front ends of the front links 1507A and 1507B in this state making the same distance of movement provide the same amount of adjustment to the angle defined by the first housing 1504A and the second housing 1504B. That is, mere rotation of the adjustment screw 1512 alone, instead of adjusting angles of the first housing 1504A and the second housing 1504B separately, provides proportional adjustment to the first housing 1504A and the second housing 1504B
The fixture screws 1506, 1511 a and 1511B, and the nuts 1509 and 1510 may be fastened again upon ending the adjustment.
This enables setting of the desirable value of opening angle defined by the first operation unit 1501A and the second operation unit 1501B.
Subsequently, rotating the operation sticks 1503A and 1503B along the horizontal plane causes the housing 1504 having the operation stick inserted therethrough and the inner-teeth gear 1541 attached to the housing 1504 to rotate with the operation stick 1503A unitarily. For example, rotating the inner-teeth gear 1541 in the direction Ya as shown in FIG. 62 causes the spur gear 1542 to rotate in the same direction along the rotation of the inner-teeth gear 1541, and causes the input pin 1544 to rotate in the direction Ya. The input pin 1544 pushing the jaw sections 1555 a causes the first rotation-transmitting member 1551 to rotate in the same direction. The rotation of the first rotation-transmitting member 1551 is transferred to the second rotation-transmitting member 1552 via the tension spring 1553. Subsequently, rotating the second rotation-transmitting member 1552 causes the jaw sections 1565 a to push the output pin 1545, thereby rotating the output pin 1545 in the same direction.
The rotation of the output pin 1545 is transferred to the pulley 1546. The rotation of the pulley 1546 causes one of the operation wires 1547 wound therearound to be drawn and the other one to be loosened. Operating the operation wires 1547 in this causes the first bending part of the arm section of the insertion section of the endoscope to bend by an appropriate angle or to restore the straightened state or operated.
In the torque limiter 1548 having the aforementioned structure here, the elastically deforming tension spring 1553 absorbs torque having a predetermined value or greater produced by any force applied onto the output pin 1545 and acting on the input pin 1544, and prevents the force having the predetermined value of torque or greater from transferring therefrom since the state of tension spring 1553 transfers rotational force between the first rotation-transmitting member 1551 and the second rotation-transmitting member 1552.
On the other hand, retracting the second bending slider 1580 proximally causes the spring receiver plate 1594 to be drawn in a right-hand direction in FIG. 70 via the operation wire 1581 and the connection bar 1593. The state of the spring receiver plate 1594 causes the spring-enclosure casing 1595 in a left-hand direction via the compression coil spring 1598. An end of the connection wire 1600 is drawn via the left half member 1596 in the same direction along with the movement of the spring-enclosure casing 1595.
The end of the connection wire 1600 drawn by the left half member 1596 causes the idle pulley 1616 to rotate, thereby converting the drawing direction of the connection wire 1600 by 180 degrees and moving the pulley-supporting section 1613 toward the left-hand of FIG. 70. The movement of the pulley 1617 attached to the upper section of the moving pulley-supporting section 1613 results in causing the second bending wire 1586 wound around the pulley 1617 to be drawn in the same direction. That is, the condition shown in FIG. 73 transfers to the condition shown in FIG. 74.
This prevents damage of a wire having a diameter smaller than a conventionally used wire and having a less significant strength because excessive tension is not applied to the second bending wire 1586 in downstream thereof.
The present invention is not limited to the configuration which transmits torque between the first rotation-transmitting member 1551 and the second rotation-transmitting member 1552 by using the tension spring 1553. For example, torque may be transmitted by using a compression coil spring 1640 as shown in FIG. 78, or by a torsion spring 1641 as shown in FIG. 79. Otherwise, a constant force spring may be used. The use of spring of this type which is about to expand an elastic member thereof does not provide a force exceeding the constant level. Furthermore, the torque may be transferred by an elastic member made of rubber or plastic.
Also, the present invention is not limited to the configuration in which the pin 1508 is moved in the back-and-forth direction by the adjustment screw 1512 in the opening-angle-adjustment mechanism 1502 according to the aforementioned third embodiment. The pin may be moved by a cylinder.
The torque limiter 1548 of the angle-transferring mechanism of the aforementioned third embodiment may be applied not only to the operation section of the endoscope used with the procedure instrument but also certainly to another mechanism used in cases in which the angle of the tip of an insertion section of an endoscope is operated by a wire, or an operation section of a medical procedure instrument is operated.
an arm section protruding from a tip of the sheath and capable of conducting a first bending operation and allowing a procedure instrument to be inserted therethrough; and
a bending operating part operated when the arm section is bent, wherein the bending operating part comprises a rotational force transmission mechanism comprising:
a rotation-inputting member freely rotative and driven by a predetermined operating member in a predetermined first direction around a rotation axis and a second direction opposite to the first direction around the rotation axis;
a first rotation-transmitting member having a first rotational driving force receiving portion which is capable of contacting the rotation-inputting member, the first rotation-transmitting member is configured to be pushed and rotated in the first direction around the rotation axis by making the first rotational driving force receiving portion contacting with the rotation-inputting member when the rotation-inputting member rotates in the first direction;
a second rotation-transmitting member coaxially disposed with the first rotation-transmitting member stacking to the first rotation-transmitting member in a direction of axis of the rotation axis so as to overlap each other, the second rotation-transmitting member having a second rotational driving force receiving portion which is capable of contacting the rotation-inputting member, and configured to be pushed and rotated in the second direction by making the second rotational driving force receiving portion contacting with the rotation-inputting member when the rotation-inputting member rotates in the second direction;
a connection member configured of an elastic member and disposed so that a rotational force acts in a direction in which a relative rotational positional relationship between the first rotation-transmitting member and the second rotation-transmitting member is maintained, the connection member being configured to pull the second rotation-transmitting member in the first direction by a rotation of the first rotation-transmitting member in the first direction and rotates the second rotation-transmitting member in the first direction, and configured to pull the first rotation-transmitting member in the second direction by a rotation of the second rotation-transmitting member in the second direction and rotates the first rotation-transmitting member in the second direction; and
a rotation-outputting member rotated and driven in the second direction by being contacted and pushed by the first rotation-transmitting member being pulled by the connection member and rotating in the second direction, and rotated and driven in the first direction by being contacted and pushed by the second rotation-transmitting member being pulled by the connection member and rotating in the second direction,
wherein when an external force is applied onto the rotation-outputting member and a torque having a predetermined value or greater is applied onto the rotation-inputting member, the connection member as a force-attenuating apparatus elastically deforms to absorb and attenuate the torque, thereby the rotation-outputting member is prevented from the torque having the predetermined value or greater to be transferred thereto.
2. The medical device according to claim 1, wherein rotational centers of the first rotation-transmitting member and the second rotation-transmitting member, the rotation-inputting member, and the rotation-outputting member are substantially coaxial.
3. The medical device according to claim 1, wherein the rotation-outputting member is connected to a winding member for winding a wire, the rotation-outputting member serving for operating a medical apparatus.
4. The medical device according to claim 3, wherein:
the connection member is formed by a spring, and
a constant of the spring constituting a connection section is set to be equal to or smaller than a constant of the spring of the wire, and a constant obtained by synthesizing the constant of the spring of a connection section with the constant of the spring of the wire is set to be half or less than the constant of the spring of the wire.
5. The medical device according to claim 1, wherein the rotation-transmitting members are rotation-transmitting plates.
6. The medical device according to claim 1, wherein an input is provided to the rotation-inputting members via an input-amount-increasing mechanism which increases input amount.
7. The rotational force transmission mechanism according to claim 1, wherein a connection section is formed by a constant pressure spring.
8. The medical device according to claim 1, wherein the rotation-outputting member is connected to a winding member for winding a wire, and a stopping member for stopping the rotation of the rotational force transmission mechanism is disposed between the rotation-outputting member and the winding member.
9. The medical device according to claim 1, wherein the force-attenuating apparatus is disposed inward relative to an outer diameter of an input gear having the rotation-inputting member attached thereto.
10. The medical device according to claim 1, wherein the force-attenuating apparatus operates a medical instrument based on an output from the rotation-outputting member.
11. The medical device according to claim 10, wherein the force-attenuating apparatus operates the medical instrument by a driving member based on the output from the rotation-outputting member.
12. The medical device according to claim 11, wherein the force-attenuating apparatus bends the medical instrument by the driving member based on the output from the rotation-outputting member.
13. The medical device according to claim 12, wherein the medical instrument is an endoscope.
14. The medical device according to claim 13, wherein an angle of the endoscope is operated by a wire.
15. The medical device according to claim 12, wherein the medical instrument is the procedure instrument.
16. The medical device according to claim 15, wherein the medical instrument has a bending part.
17. The medical device according to claim 1, further comprising a second bending part capable of conducting a second bending operation provided between the arm section and the sheath.
18. The medical device according to claim 17, further comprising a third bending part provided to the sheath.
US12058029 2006-01-13 2008-03-28 Rotational force transmission mechanism, force-attenuating apparatus, medical device, and medical instrument-operation mechanism Active 2029-10-08 US8556805B2 (en)
JP2009058066A JP5371497B2 (en) 2008-03-28 2009-03-11 Torque transmitting mechanism, force relieving device, and medical device
EP20090004508 EP2111783B1 (en) 2008-03-28 2009-03-27 Rotational force transmission mechanism, force-attenuating apparatus, medical device, and medical instrument-operation mechanism
US12024704 Continuation-In-Part US9308049B2 (en) 2006-01-13 2008-02-01 Medical treatment endoscope
US20080306339A1 true US20080306339A1 (en) 2008-12-11
US8556805B2 true US8556805B2 (en) 2013-10-15
ID=40792812
US12058029 Active 2029-10-08 US8556805B2 (en) 2006-01-13 2008-03-28 Rotational force transmission mechanism, force-attenuating apparatus, medical device, and medical instrument-operation mechanism
US (1) US8556805B2 (en)
EP (1) EP2111783B1 (en)
JP (1) JP5371497B2 (en)
JPH03101021A (en) 1989-09-13 1991-04-25 Omron Corp Multiple switch
US5173716A (en) * 1990-02-02 1992-12-22 Harada Kogyo Kabushiki Kaisha Device for driving telescopic power antenna
Japanese Notice of Allowance dated Aug. 20, 2013 in Japanese Patent Application No. 2009-058066.
Notice of Allowance dated Jan. 22, 2013 issued in corresponding U.S. Appl. No. 11/652,880.
U.S. Office Action dated Jul. 2, 2012 in related U.S. Appl. No. 12/057,990.
U.S. Office Action dated Jul. 3, 2012 in related U.S. Appl. No. 12/035,535.
U.S. Office Action dated Jun. 6, 2012 in related U.S. Appl. No. 12/127,449.
U.S. Office Action dated May 15, 2012 received in related U.S. Appl. No. 11/652,880.
U.S. Office Action dated May 31, 2012 in related U.S. Appl. No. 12/024,704.
US20080306339A1 (en) 2008-12-11 application
JP5371497B2 (en) 2013-12-18 grant
JP2009240769A (en) 2009-10-22 application
EP2111783B1 (en) 2012-05-02 grant
EP2111783A3 (en) 2009-11-04 application
EP2111783A2 (en) 2009-10-28 application
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HASHIMOTO, TATSUTOSHI;DEJIMA, TAKUMI;REEL/FRAME:021417/0435