Patent ID: 12207791

DESCRIPTION OF EMBODIMENTS

Hereinafter, the present embodiment will be described with reference to the accompanying drawings. In the accompanying drawings, functionally identical elements may be represented by the same number. Note that the accompanying drawings illustrate the embodiment and implementation examples conforming to the principles of the present disclosure, but these are provided to aid in understanding the present disclosure and should not be interpreted as limiting the present disclosure. The description in this specification is merely exemplary and is not intended to limit the scope of the claims or application examples of the present disclosure in any significance.

The present embodiment will be described in such sufficient detail as to enable those skilled in the art to carry out the present disclosure. However, it is necessary to understand that other implementations and modes are also possible, and that various modifications of configurations and structures and substitutions of various elements are possible without departing from the scope and spirit of the technical concepts of the present disclosure. Therefore, the following description should not be interpreted as being limited thereto.

An overall configuration of an endoscopic surgery system (endoscope device) according to the embodiment of the invention will be described with reference toFIG.1. This endoscopic surgery system generally includes an endoscope100and a master system200.

The endoscope100is an imaging device that captures an image of a portion to be examined by inserting an insertion portion into the body of the subject, and is configured to enable various treatment tools to be inserted therein as will be described later. The treatment tools include a manual treatment tool and a robot treatment tool (manipulator). The manual treatment tool is a treatment tool used for a general endoscope (for example, a treatment tool used in general endoscopic surgery such as hemostasis or local injection), and can be inserted from a treatment tool insertion port102F to be described later. On the other hand, the robot treatment tool (manipulator) is a treatment tool (slave) controlled by a controller204of the master system200to be described later. The robot treatment tool can be inserted from a treatment tool insertion port102D or102E to be described later.

The endoscope100includes an insertion portion101, a hand operation unit102, a universal cable105, and a connector unit106. The insertion portion101further includes a distal tip1011, a bending section1012, and a flexible tube section1013. The hand operation unit102includes a joint section103.

The distal tip1011is provided at an end portion of the insertion portion101, includes an image sensor therein, and includes end portions of various channels. In addition, the bending section1012is configured to be actively bendable by operating a bending adjustment knob102A of the hand operation unit102. In addition, the flexible tube section1013is a portion that is passively bendable by an external force regardless of the operation of the hand operation unit102.

The flexible tube section1013is connected to the hand operation unit102at one end thereof. The hand operation unit102includes, for example, the bending adjustment knob102A and an operation button102B, and causes an operator to perform various operations for observation and imaging by the endoscope100.

The joint section103forms a part of the hand operation unit102, and is a connection member configured to be connectable to a hanger104(to be described later) in a suspended state and to be connected to the hand operation unit102in order to suspend the endoscope100. Details of a structure of the joint section103will be described later. Note that the joint section103and a case102C include treatment tool insertion ports102D to102F for the insertion of the treatment tool.

Note that, for example, a structure as disclosed in JP 2018-509267 A can be adopted as a specific structure of a connecting portion between the joint section103and the hanger104.

The universal cable105extends from the opposite side of the hand operation unit102toward the connector unit106. The universal cable105includes a light guide, various wirings, and various channels therein similarly to the insertion portion101. The connector unit106includes various connectors for connecting the endoscope100to a processor211to be described later.

As an example, the master system200includes an input device202, a display203, and a controller204. As an example, the master system200can also be operated by a physician A who operates the hand operation unit102while gripping the endoscope100and is different from an endoscopist B.

Although not illustrated in detail, the controller204is configured by a combination of a lever, a button, a foot pedal, and the like as an example, and is operated by the physician A for operating, positioning, and the like of a robot treatment tool in the endoscope100. The endoscopist B holds the endoscope100, and executes the operation of the hand operation unit102and the operation of the insertion portion101so as to move the distal tip1011of the endoscope100to a desired position according to an instruction of the physician A. The physician A operates the controller204to execute the operation of the robot treatment tool based on an image captured by the endoscope100and displayed on the display203.

The endoscopic surgery system includes the processor211, an air/water supply unit212, a suction unit213, a motor box214, a master slave system processor215, a display216, and the like.

The processor211receives an image signal from the endoscope100and performs predetermined signal processing. The processor211may include a light source, which emits irradiation light for irradiation of an object, therein. The air/water supply unit212performs control to release a water flow or an air flow supplied to the subject. The suction unit213includes a pump and a tank (not illustrated) for suction of body fluid and an excised material sucked from a body of the subject through the endoscope100.

The motor box214stores various motors configured to generate a driving force for driving the robot treatment tool of the endoscope100. The various motors operate based on drive signals generated in accordance with control signals transmitted from the master system200. The master slave system processor215executes various types of control on the robot treatment tool through the motor box214according to instructions from the master system200. The display216is a display device configured to perform display based on, for example, a data processing result in the processor211.

The processor211, the air/water supply unit212, the suction unit213, the motor box214, and the master slave system processor215are stored in a rack L. The rack L further includes the hanger104that is connected to the joint section103to suspend the endoscope100.

A structure of the distal tip1011of the endoscope100will be described with reference toFIG.2. Light distribution lenses112A and112B are arranged at the distal tip1011of the endoscope100, and light guides LGa and LGb extend from the distal tip1011to the connector unit106inside the insertion portion101. Light from a light source device in the processor211is guided by the light guides LGa and LGb, and is emitted toward the subject by the light distribution lenses112A and112B arranged at the distal tip1011.

In addition, the endoscope100includes an objective lens113and an image sensor117at the distal tip1011as illustrated inFIG.2. The objective lens113provided at the distal tip1011collects scattered light or reflected light from the subject to form an image of the subject on a light receiving surface of the image sensor117.

The image sensor117can be configured using, for example, a charge coupled device (CCD) or a complementary metal oxide semiconductor sensor (CMOS Sensor). The image sensor117is controlled by a signal (a gain control signal, an exposure control signal, a shutter speed control signal, and the like) supplied from the processor211through an electrical wiring118, and supplies an image signal of a captured image to the processor211through the electrical wiring118and an A/D conversion circuit (not illustrated).

In addition, an air/water supply port114, an auxiliary water supply port115, and treatment tool ports116A to116C are provided, as end portions or openings of various channels, on an end surface of the distal tip1011. The air/water supply port114is connected to an air/water supply channel121to introduce a water flow or an air flow for cleaning or the like of the distal tip1011.

In addition, the auxiliary water supply port115is connected to an auxiliary water supply channel122in order to introduce auxiliary water supply for removal of wastes in the field of view. The channels121and122are arranged to extend along the inside of each of the distal tip1011, the bending section1012, the flexible tube section1013, the hand operation unit102, and the universal cable105.

The treatment tool channels119A to119C are provided inside the endoscope100, in addition to these channels121and122. The treatment tool channels119A to119C are arranged inside the hand operation unit102and/or the joint section103so as to allow a treatment tool such as forceps to pass therethrough while freely moving back and forth. Distal tips of the treatment tool channels119A to119C form the treatment tool ports116A to116C, respectively, at the distal tip1011. In addition, two of the treatment tool channels119A to119C communicate with the treatment tool insertion ports102D and102E, respectively, and the remaining one thereof communicates with the treatment tool insertion port102F and is also used as a suction channel. Note that at least one of the treatment tool channels119A to119C may also serve as the suction channel.

Structures of the hand operation unit102and the joint section103will be described in detail with reference toFIGS.3to6.FIG.3is a perspective view of the hand operation unit102and the joint section103and illustrates a state in which a part of a cover of the hand operation unit102has been removed. In addition,FIG.4is a plan view of the hand operation unit102and the joint section103, andFIGS.5and6are cross-sectional views respectively taken along lines A-A and B-B inFIG.4.

As illustrated inFIG.3, plates301to303and a frame304are provided inside a case102C constituting the hand operation unit102and the joint section103.FIG.3illustrates only the plates301to303and the frame304among the internal configurations of the case102C and the joint section103, and does not illustrate the other components.

Each of the plates301to303has a substantially planar plate shape, but the plate303may have a rib structure extending along an arrangement direction of the treatment tool channels119A to119C as an example. In addition, the frame304includes a plurality of partition structural members having partitions which are coupled to each other and have a longitudinal direction along the arrangement direction of the treatment tool channels119A to119C as will be described later.

As will be described later, the plates301to303are coupled and fixed to each other by screws or the like, and the frame304is also coupled to the plate303, whereby the frame304is arranged inside the joint section103. Note that the plate302is also provided with a connection plate305extending in a direction substantially orthogonal to the plane of the plate302. The connection plate305is a fixing member for connecting and fixing the universal cable105to the hand operation unit102.

As illustrated inFIG.4, the plate301is fixed to the plate302using a plurality of screws S1. In addition, the plate302is fixed to the plate303using a plurality of screws S2. In addition, the plate303is positioned with respect to the frame304using the alignment pins P1 and is fixed using two screws S3 and one S4. Then, the joint section103is fixed to the frame304by means to be described later. Note that the plates302and303are fixed to the case102C by an L-shaped fixation309extending from the operation button102B and a screw S6 as illustrated in an enlarged manner inFIG.4.

In this manner, the case102C and the joint section103are fixed to the plates301to303and the frame304. Note that the plates301to303and the frame304may be made of aluminum or stainless steel. Note that the case102C is provided with a stopper102ST for preventing the plates301to303from moving in a direction perpendicular to the plane.

FIG.6is a cross-sectional view taken along line B-B inFIG.4, and illustrates a state of the connection of the joint section103with respect to the frame304and the plate303. As illustrated inFIG.6, the case102C has a protrusion Ed at an end portion on the joint section103side, and the plate303is positioned with respect to the case102C by arranging the plate303such that one end of the plate303is in contact with this protrusion Ed. On the other hand, the joint section103is mounted onto the frame304fixed to the plate303(fixed using a fixing ring308to be described later).

An example of a structure of the frame304will be described with reference toFIGS.7to10.FIG.7is a perspective view illustrating the structure of the frame304, andFIGS.8,9, and10are a plan view, a front view, and a cross-sectional view of a lower surface (bottom plate) of the frame304, respectively. As illustrated inFIG.9, the frame304is configured by arraying a plurality of (for example, three) hollow partition structural members401to403each of which is formed in a rectangular box-shaped shape and has a longitudinal direction along the arrangement direction (longitudinal direction) of the treatment tool channels119A to119C in parallel. With such a partition structure, the frame304has sufficient mechanical strength against a tensile direction, a rotational direction, and sway.

The central partition structural member402located between the partition structural members401and403has a through-hole404on its upper surface. As illustrated inFIG.8, a screw hole408for the screw S4 is provided in a lower surface immediately below the through-hole404. In addition, a pin hole405into which the alignment pin P1 is inserted is provided at a position at the front of the screw hole408.

An end surface on the front side of the partition structural member402is an inclined portion409having a predetermined inclination with respect to the lower surface in order to facilitate insertion of the alignment pin P1 into the pin hole405. That is, the inclined portion409is provided in the vicinity of the pin hole405. In addition, an interior side surface412blocking a hollow portion is provided in the hollow portion of the partition structural member402as illustrated inFIG.10. This interior side surface412contributes to improvement in mechanical strength of the partition structural member402.

In addition, the partition structural members401and403on both left and right sides include interior side surfaces411and413, respectively, as illustrated inFIGS.8and9. This interior side surface411and413also contribute to improvement in mechanical strength of the partition structural members401and403, which is similar to the interior side surface412.

In addition, the partition structural members401and403include a sleeve306for connecting the treatment tool channels119B and119C therein. The sleeve306penetrates the interior side surfaces411and413and is fixed to an end surface of the frame304, specifically, the interior side surfaces411and413by a fixing ring307. The frame304is fixed by the fixing ring308at an end surface of the joint section103so that the joint section103and the sleeve306are fixed to the frame304. Note that, regarding thicknesses of lower surfaces of the partition structural members401to403, the thickness of a lower surface422of the central partition structural member402is larger than the thicknesses of lower surfaces421and423of the left and right partition structural members401and403(seeFIG.9). In a case where a force is applied to the hand operation unit102in the rotational direction in a state where the joint section103is mounted on the hanger104, a portion to which the load is applied the most is a portion of the screw S4. Therefore, the strength of the frame304can be improved by increasing the thickness of the lower surface422of the partition structural member402. Note that it is preferable to use a screw larger than screws used for the lower surfaces421and423as the screw used for the thick lower surface422of the partition structural member402.

In addition, the partition structural members401and403on the left and right sides have screw holes406and407for insertion of the above-described screw S3 at end portions of the lower surfaces thereof, respectively. Note that the screw holes406and407may be provided at any positions, and are preferably arranged to form an isosceles triangle with the screw hole408for the screw S4. In addition, in the structure example illustrated inFIG.7, upper surfaces of the partition structural members401and403on the left and right sides have end portions at positions retracted from that of the partition structural member402in order to facilitate screwing of the screw S3 into the screw holes406and407. Meanwhile, it is also possible to provide the end portions of the upper surfaces on the front surface side by providing through-holes similar to the through-hole404on the upper surfaces as in the partition structural member402.

An example of a structure of the plate303will be described with reference toFIGS.11and12.FIG.11is a perspective view in which the upper surface side of the plate303faces upward, andFIG.12is a perspective view in which the lower surface side faces upward. As illustrated inFIG.12, the plate303has a rib structure including ribs L1 to L3 which extend along the longitudinal direction of the channel. The plate303having the rib structure and the frame304in which the plurality of partition structural members402are coupled provide the hand operation unit102with high mechanical strength so that high reliability can be obtained. Note that the side surface of the partition structural member of the frame304can contribute to improvement in strength in the tensile direction similarly to the rib structure.

Note that the plate302includes a position adjustment space G1 in a screw hole of screw S2 for fixing the plate303as illustrated inFIG.13(an enlarged view of the vicinity of reference sign C inFIG.5). The position adjustment space G1 facilitates mounting of the plate303regardless of variations in size between products regarding the frame304and the plate302positioned by the alignment pin P1.

In addition, the protrusion Ed is provided at the end portion of the case102C, and one end303S of the plate303abuts against an inner surface thereof as illustrated inFIG.14(an enlarged view of the vicinity of reference sign D inFIG.5). The plate303and the frame304are positioned with respect to the case102C by the abutment of the end portion303S against the protrusion Ed and the insertion of the alignment pin P1. An end surface404S of the through-hole404is preferably formed so as to match an end surface102S of the case102C in order to improve the mounting property of the screw S4.

[Others]

The present invention is not limited to the above-described examples, and includes various modified examples. For example, the above-described examples have been described in detail for the purpose of facilitating understanding of the present invention, and are not necessarily limited to those including all the described configurations. In addition, a part of the configuration of a certain example can be replaced with a configuration of another example, and the configuration of the another example can be added to the configuration of the certain example. In addition, it is possible to add, delete, and replace another configuration for a part of the configuration of each of the examples.

REFERENCE SIGNS LIST

100endoscope101insertion portion1011distal tip1012bending section1013flexible tube section102hand operation unit102A bending adjustment knob102B operation button102C case103joint section104hanger105universal cable106connector unit112A,112B light distribution lens113objective lens114air/water supply port115auxiliary water supply port116A to C treatment tool port117image sensor118electrical wiring119A to C treatment tool channel200master system202input device203display204controller211processor212air/water supply unit213suction unit214motor box215processor for master slave system216display301to303plate304frame305connection plate306sleeve307,308fixing ring