JPH1043190A - 外科器械用の関節運動伝達機構 - Google Patents

外科器械用の関節運動伝達機構

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Publication number
JPH1043190A
JPH1043190A JP9137447A JP13744797A JPH1043190A JP H1043190 A JPH1043190 A JP H1043190A JP 9137447 A JP9137447 A JP 9137447A JP 13744797 A JP13744797 A JP 13744797A JP H1043190 A JPH1043190 A JP H1043190A
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Prior art keywords
teeth
assembly
actuator
release
end effector
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JP3911068B2 (ja
Inventor
Thomas Huitema
トーマス・ヒユイテマ
Richard P Nuchols
リチヤード・ピー・ヌコルス
Bryan D Knodel
ブライアン・デイ・ノデル
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Ethicon Endo Surgery Inc
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Ethicon Endo Surgery Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00309—Cut-outs or slits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20636—Detents
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20636—Detents
    • Y10T74/20642—Hand crank

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

(57)【要約】 【課題】 器械を正確に位置決めする。 【解決手段】 器械のエンドエフェクターを遠隔的に関
節運動させる関節運動伝達機構組立体を有する関節式外
科器械は、ハウジングを有する本体、ハウジング内に回
転しないように置かれた振動部材、振動部材内に適合し
かつ回転部材からの回転を伝導用ロッドの往復運動に変
換するための駆動軸を有する回転部材、及びハウジング
に取り付けられかつ回転部材を回転させるアクチュエー
ターを備える。

Description

【発明の詳細な説明】
【０００１】
【発明の属する技術分野】本発明は種々の外科処置、特
に内視鏡下外科処置を行うための外科器械に関する。特
に、内視鏡外科の現場において外科医が使い易くかつ高
度の信頼をもって器械を正確に位置決めできる伝達機構
に関する。
【０００２】
【従来技術及びその課題】外科処置中、特に内視鏡下外
科処置中、体腔内の外科処置部位へのアクセスは体壁に
作られた小直径の開口部を通して行われる。このアクセ
スによく使われる器具は套管針である。套管針は栓子と
カニューレとを有する組立体である。栓子はアクセス用
の開口部を設けるために体壁を穿刺するように使用され
る鋭い先端を持つ。栓子は、中空で円筒状スリーブであ
るカニューレ内を滑る。栓子が体壁を貫通すると、栓子
はカニューレから取り出される。しかし、カニューレは
栓子により体壁に作られた開口部内の定位置に留まる。
従って、カニューレは、体腔内の外科処置部位へのアク
セスを得るための円筒状通路を提供する。
【０００３】従って、多くの内視鏡下外科器械の特徴的
な形態は套管針カニューレを通って滑り得る長い円筒状
のシャフトである。希望の外科処置を実行するために何
らかの方法で組織を取り扱うために、体腔内の外科処置
部位において組織と接触する器械の端部であるシャフト
の作業端部に「エンドエフェクター」が設けられる。エ
ンドエフェクターを有する作業端部もまた套管針カニュ
ーレを通って摺動できなければならない。シャフトの反
対側の端部には、エンドエフェクターの作業を遠隔制御
するために作業端部に機能的に連結されたアクチュエー
ターがある。通常は、アクチュエーターは１個又は複数
個の旋回引き金を有するピストル型のグリップハンドル
を備えたフレーム内に収容される。或いは、アクチュエ
ーターはレバー、或いは旋回引き金とレバーとの組合せ
を有することができる。アクチュエーターは、外科医が
引き金を引き、又はレバーを押し下げたときに作動す
る。これらの作用がエンドエフェクターにその希望の機
能を行わせる。
【０００４】外科医は、希望の外科処置を行うために組
織を操作するようにエンドエフェクターを操作するより
前に、エンドエフェクターを内視鏡下外科処置部位内の
希望位置に注意深く位置決めしなければならない。ま
た、例えば組織を適切に連結するためにステープルをあ
る方向に打ち出さねばならない場合は、エンドエフェク
ターを適切な方向に位置決めしなければならない。従っ
て、内視鏡外科器械は、外科医が器械の作業端部のエン
ドエフェクターの方向と位置とを変えることができる機
構を備えることが普通である。この機構は、外科医がそ
の手で器械を握りながらこれらの機構を容易に操作でき
制御できるように、これを器械のフレーム又はその近く
で操作できねばならないことは言うまでもない。
【０００５】内視鏡外科器械のエンドエフェクターの方
向を変えるためにエンドエフェクターをそのシャフトの
長手方向軸線まわりに回転させたいことが度々ある。こ
のため、多くの内視鏡外科器械は、フレームの近くにノ
ブ又はダイヤルを備え、これが、外科医の手で操作され
たときに器械のシャフトを回転させ、従ってエンドエフ
ェクターを回転させる。
【０００６】ある種の内視鏡器械の別の重要な特徴は、
エンドエフェクターがシャフトの長手方向軸線に関して
「関節運動」された位置に位置決めされるようにエンド
エフェクターを旋回させる能力である。このため、内視
鏡器械は、内視鏡下外科処置部位内でエンドエフェクタ
ーを正確に位置決めさせるために、エンドエフェクター
を遠隔的に関節運動させるようにフレーム又はその近く
に関節運動用のノブ又はダイヤルを備えることが多い。
内視鏡外科器械用のこれら関節運動機構の多くの例があ
る。例えば、米国特許４７２８０２０号、４８６９４１
４号、５３１２０２３号、５３２６０１３号、５３３０
５０２号、５３７４２７７号、５３８１９４３号、５３
８３８８８号、５４０３３４２号、５４０５３４４号、
５４０９４９８号、５４１１５１９号、５４１７２０３
号及び５４５６６８４号の再吟味が奨められる。エンド
エフェクターを回転させる関節運動機構は、１９９４年
６月１０日付け米国同時係属出願２５９３２２号、及び
１９９５年５月１８日付け４４２７８３号にも説明され
る。
【０００７】シャフトの可撓部分により内視鏡式器械の
エンドエフェクターを曲げる機構を説明する１９９４年
１２月１９日付け米国同時係属出願３５９１０７号も興
味のあるものである。
【０００８】関節式内視鏡外科器械は、今日、自由に購
入でき、また文献に説明されているが、関節運動を制御
する機構には重大な欠陥がある。器械のエンドエフェク
ターを希望の位置に関節運動させるとき、エンドエフェ
クターを希望の外科作用を行うよう操作するより前に、
エンドエフェクターが組織に押し付けられることがしば
しばある。ある場合には、外科医は、外科機能を行うた
めにエンドエフェクターを正確に操作するために部位内
に十分な空間を形成するように組織を後退させ又は切開
することを希望し、このため故意に組織を押すように関
節式エンドエフェクターを使用する。具合悪いことに、
関節運動された位置でエンドエフェクターに力を加えた
ときに、エンドエフェクターがその希望の関節運動され
た位置から押されることがしばしば起こる。言い換えれ
ば、エンドエフェクターはその希望の関節運動位置から
「戻され」、別の希望しない関節運動位置に動かされ、
或いはその最初の関節運動なしの位置に戻される。これ
は明らかに克服したい厄介なことである。
【０００９】更に、（上述の米国同時係属出願２５９３
２２号に説明されたように）適正な位置決めを維持する
するために、関節運動で決められた位置からの運動に対
する抵抗を関節式組立体に与えた場合は、外科医がエン
ドエフェクターをその希望の関節運動位置に関節運動さ
せるときに相当した抵抗を同様に与えなければならな
い。換言すれば、外科医は、関節運動位置からの運動に
対するエンドエフェクターの抵抗の対応した増加のため
に関節運動用のノブ又はダイヤルにより大きな力又はト
ルクを加えねばならない。
【００１０】更に、関節運動位置にあるエンドエフェク
ターに加える力が大き過ぎると、エンドエフェクターを
戻すだけでなく、関節運動組立体の構成要素を破損させ
致命的な故障を導く可能性がある。
【００１１】従って、外科器械は、シャフト作業端部の
エンドエフェクターであって、適正に位置決めするよう
に遠隔的に関節運動させることのできるエンドエフェク
ターを特徴として備えることが必要である。エンドエフ
ェクターを遠隔的に関節運動させる能力は、器械のフレ
ームをエンドエフェクターから分離している長い円筒状
シャフトを特徴として備えた内視鏡外科器械にとって特
に重要である。関節運動用の機構は、エンドエフェクタ
ーに力が加えられたとき、関節運動位置にあるエンドエ
フェクターの運動に望ましく抵抗することが重要であ
る。加えて、エンドエフェクターの関節運動なしの位置
から関節運動位置への位置決めには大きな力の必要のな
い抵抗が与えられるべきである。更に、関節運動された
エンドエフェクターに大き過ぎる力が加えられた場合に
は関節運動機構をリセットして構成要素の破損を防ぐ構
成要素の破損防止のためのフェイルセイフ機構が設けら
れることが好ましい。
【００１２】
【課題を解決するための手段】本発明は、器械のエンド
エフェクターを遠隔的に関節運動させる関節運動伝達機
構組立体を備えた関節式外科器械である。この関節運動
伝達機構組立体は、本体、振動部材、回転部材及びアク
チュエーターを備える。これら構成要素の簡単な説明が
与えられるであろう。
【００１３】関節運動伝達機構組立体の本体は外科器械
に取り付けられる。この本体からハウジングが伸びる。
【００１４】振動部材は本体のハウジング内に座り、ハ
ウジングの内側で振動する。振動部材はハウジング内で
振動するが、ハウジング内で回転はしない。振動部材は
第１組の解除用の歯及び第１組の固定用の歯を持つ。
【００１５】関節運動伝達機構組立体の回転部材は、振
動部材の中に取り付けられ、振動部材内で回転する。回
転部材は、関節運動伝達機構組立体の本体内に伸びてい
る駆動軸を持つ。駆動軸は、回転部材の回転運動を駆動
軸に取り付けられた細長い伝導用ロッドの軸方向運動に
転換する。更に、回転部材は第２組の固定用の歯を持
つ。
【００１６】アクチュエーターは本体のハウジングに回
転可能に取り付けられる。これは回転部材に固定されて
回転部材に回転力を加える。アクチュエーターは第２組
の解除用の歯を持つ。
【００１７】関節運動伝達機構組立体が固定位置にある
ときは、第１組及び第２組の固定用及び解除用の歯は互
いに押し合うように強制される。この固定位置において
は、これらの歯は互いに組み合わせられる。この歯の噛
合は、振動部材が回転できないことと組み合って、関節
運動伝達機構組立体が固定位置にあるときの回転部材の
回転運動を防止する。
【００１８】アクチュエーターが固定位置から解除位置
に回されると、アクチュエーターは振動部材上の第１組
の解除用の歯を反対方向に強制する。このため、第１組
及び第２組の固定用の組合が互いに外される。従って、
回転部材の回転運動が可能となる。
【００１９】本発明の外科器械は器械のエンドエフェク
ターを遠隔的に関節運動させることができる。これは、
関節運動の程度を正確に管理するために個別的な位置へ
の関節運動を提供する。重要なことは、関節運動伝達機
構組立体の振動部材及び回転部材の固定用及び解除用の
歯がエンドエフェクターを個別的に位置決めするラチェ
ット回転を提供することである。エンドエフェクターが
個別的な関節運動位置にあるときに大きな力を受ける
と、関節運動伝達機構組立体のラチェット機構がフェイ
ルセイフを提供し、関節運動伝達機構組立体の構成部品
を破損から保護する。
【００２０】本発明の特に好ましい実施例においては、
第１組及び第２組の解除用及び固定用の歯の各は、先端
及び先端から分岐している１対の側辺を持つ。これらの
歯の各は、隣接の歯から歯を２分している中心線及び１
対の側辺の一方と平行な斜めの線により定められた歯角
度を持つ。第１組及び第２組の解除用の歯の歯角度が、
第１組及び第２組の固定用の歯の各の歯の歯角度より大
きいことが有利である。解除用の歯の歯角度が固定用の
歯の歯角度よりも大きいため、アクチュエーターと振動
部材との間の界面における第１組及び第２組の解除用の
歯の間の回転抵抗は、振動部材と回転部材との間の界面
における第１組及び第２組の固定用の歯の間の回転抵抗
よりも小さい。従って、アクチュエーターに回転力が加
えられたときに回転部材を回転させるために第１組及び
第２組の固定用の歯にを外すに要する回転力は、アクチ
ュエーターに加えられる力と無関係に固定用の歯を外す
ときの必要であろう力より小さい。
【００２１】換言すれば、関節運動位置においてエンド
エフェクターに回転力を直接加えるときは、固定用の歯
をアクチュエーターとは無関係に外さなければならない
ので、回転部材が回転できるように固定用の歯を外すに
はより大きな力が必要である。アクチュエーターが回さ
れるとき、関節運動伝達機構組立体は、振動部材の第１
組の解除用の歯を逆方向に強制する（固定用の歯を互い
に外させることに相当する）ために、解除用の歯の間に
存在する回転抵抗がより小さいという利点が得られる。
より小さい回転抵抗を利用できない場合は、振動部材と
回転部材との間に界面において第１組及び第２組の固定
用の歯の間にある大きな抵抗を克服する必要がある。短
く言えば、外科医が関節運動伝達機構組立体から器械の
エンドエフェクターを関節運動させるための回転力は、
回転力をエンドエフェクターに加えてエンドエフェクタ
ーを関節運動させるに要する力より小さい。
【００２２】本発明の関節運動伝達機構組立体は、器械
のエンドエフェクターを遠隔的に関節運動させたいいか
なる外科器械にも使用可能である。この器械は内視鏡下
又は最小攻撃の外科処置を含んだ用途に特に有利である
が、通常の開腹外科処置における応用もまた見いだすこ
とができる。
【００２３】
【実施例】まず図１を参照すれば、本発明の好ましい関
節運動式の内視鏡用ステープラー３０が示される。この
ステープラーは、第１の手元側端部３１に、使用者がス
テープラーを握って操作できるように作られたフレーム
３２を持つ。フレームは、使用者の手のひらに入る静止
したハンドグリップ３３、及び組織を遠隔的にクランプ
しクランプされた組織内にステープルを打ち込むために
旋回可能に取り付けられたクランプ用及び射出用の引き
金３４及び３５を備える。ステープラーの反対側末端３
６に、外科用連結具組立体３７の形式のエンドエフェク
ターがある。この外科用連結具組立体は、多数のステー
プルを収容している外科用カートリッジを受け入れるよ
うにされた細長い溝３９に向かい合った細長いアンビル
３８を持つ（外科用カートリッジは図示せず）。細長い
内視鏡用シャフト４０がステープラーのフレーム２２か
ら伸びてフレームを外科用連結具組立体に連結する。
【００２４】クランプ用及び射出用の引き金３４及び３
５の反時計方向の回転に応じて組織を遠隔的にクランプ
しクランプされた組織内にステープルを打ち込むため内
視鏡用ステープラー３０の好ましい作動用組立体が、米
国特許５４６５８９５号及び共通して譲渡された１９９
５年４月２８日付け同時係属出願０８／４３１１０５号
に説明される。これらの各は参考文献としてここに組み
入れられる。細長い溝から間隔を空けられた第１の位置
からこの溝に隣接した第２の位置にアンビルを強制する
ための外科用連結具組立体内の好ましいクランプ機構
が、共通して譲渡された１９９５年９月１９日付け同時
係属出願０８／５３０９３１号に説明される。これも参
考文献として本明細書に取り入れられる。
【００２５】図１及び２を参照すれば、好ましい関節式
ステープラー３０は、フレーム３２をステープラーの細
長い内視鏡用シャフト４０に連結している関節運動伝達
機構組立体４１を持つ。関節運動伝達機構組立体が回さ
れると、これがステープラーの外科用連結具組立体を遠
隔的に関節運動させる。細長い内視鏡用シャフトは、外
科用連結具組立体に取り付けられてこれの関節運動を可
能とさせる柔軟なネック４２を持つ。柔軟なネックは第
１及び第２の柔軟なネック部分４３及び４４を有し、こ
れらは第１及び第２の細長い柔軟なバンド４５及び４６
を受け入れる。関節運動伝達機構組立体が回転すると、
第１及び第２の柔軟な伝導用バンドの一方が前向きに動
かされ、他方のバンドが後向きに動かされる。柔軟なネ
ックの第１及び第２の柔軟なネック部分内のバンドの往
復運動に応じて柔軟なネックが曲がって関節運動を提供
する。関節式外科用テープラーにおける柔軟なネックの
更なる説明は、共に譲渡され本明細書に参考文献として
組み入れられた１９９４年１２月１９日付け同時係属出
願０８／５３９１０７に説明される。
【００２６】本発明の好ましい内視鏡用直線型ステープ
ラーの関節運動伝達機構組立体の構成部品が図３に示さ
れる。この組立体の主要構成品は、アクチュエーター４
７、回転円錐軸４８、振動円錐４９及びノズル本体５０
である。
【００２７】まず振動円錐４９に着目すると、この振動
円錐は外側の環状の歯のアレイとして配置された第１組
の解除用の歯５１を持つ。第１組の解除用の歯の内側に
第１組の固定用の歯５２が同心状に配置される。振動円
錐は、１対の回り止め用のラグ５３も持つ（図３におい
ては１対のラグの一方だけが示される）。
【００２８】回転円錐軸４８は、図１０−１３と組み合
わせて図３に更に詳細に示される。回転円錐軸は、歯の
環状アレイとして配置された第２組の固定用の歯５４を
持つ。関節運動伝達機構組立体が組み立てられたとき、
回転円錐軸の第２組の固定用の歯は、振動円錐４９の第
１組の固定用の歯５２と相互作用する組合位置に位置決
めされる。回転円錐軸は、更に４個の駆動用ラグ５８を
備える。こ回転円錐軸は上方ばね用の環状の座５９も持
つ。更に、回転円錐軸は駆動歯車５５を有し、これは、
関節運動伝達機構組立体が組み立てられたとき、ノズル
本体の中に下がる（ノズル本体の更なる説明は以下行わ
れる）。
【００２９】回転円錐軸４８が回転すると、駆動歯車
が、ステープラーの内視鏡シャフト４０を通る第１及び
第２の長い柔軟なベルト４５及び４６を軸方向で往復運
動させる。第１及び第２の柔軟なバンドは、バンドを駆
動歯車と組み合わせる第１及び第２のラック５６５及び
５７を持つ。従って、駆動歯車が回されると、一方のバ
ンドは前進し、他方のバンドは後退する。このため、柔
軟なネック４２の第１及び第２の柔軟なネック部分４３
及び４４を通るバンドの反対向きの往復運動がステープ
ラーの柔軟なネックを曲げる。この方法で、ステープラ
ーの外科用連結具組立体の関節運動が行われる。
【００３０】図１４−１８と組み合わせて図３を参照
し、ノズル本体５０の更に詳細な説明が与えられる。ノ
ズル本体は孔８０を有し、これを通してステープラーの
フレーム３２から内視鏡シャフト４０への連続的な連絡
が与えられる。本体は、関節運動伝達機構組立体の本体
をフレームに固定するためにフレーム溝６０とフランジ
６１とを持つ（図１参照）。本体のフランジとは反対の
側において、ステープラーの内視鏡シャフトの手元側端
部が孔の中に摩擦のある状態で受け入れられる。振動円
錐４９及び回転円錐軸４８を受け入れるハウジング６２
がノズル本体から伸びる。このハウジングは、振動円錐
の座６３と１対の回り止めの溝６４とを持つ。振動円錐
がハウジング内に差し込まれたとき、振動円錐の回り止
めラグ５３がハウジングの回り止め溝と揃うように置か
れ、そして振動円錐はハウジング内で振動円錐の座の上
に回転しないように置かれる。振動円錐は、回転運動は
妨げられるが関節運動伝達機構の作動中に上下に振動す
ることはできる。
【００３１】ノズル本体５０から伸びているハウジング
６２は、ノズル本体の孔８０と連絡している内側の筒状
ポスト６５も持つ。関節運動伝達機構組立体が組み立て
られたとき、回転円錐軸４８の駆動歯車５５がハウジン
グの内側筒状ポストを通して差し込まれる。内側筒状ポ
ストは円錐軸用の環状の座６６を持つ。従って、関節運
動伝達機構組立体が組み立てられたとき、回転円錐軸は
振動円錐４９内に置かれ、このため、第１組及び第２組
の固定用の歯は互いに組み合う。次いで、振動円錐が、
回転円錐軸と共にハウジング内に挿入される。挿入され
ると、駆動歯車は内側筒状ポスト６５を通して置かれ、
回転円錐軸は内側筒状ポストの円錐軸の座６６上に座
る。振動円錐はハウジングの振動円錐の座６３から軸方
向で離れる方向に強制され、そして円錐の回り止めラグ
５３とハウジング内の回り止め溝６４とが整列している
ため回転することはできない。対照的に、回転円錐軸は
振動円錐内で回転でき、第１組及び第２組の固定用の歯
の結合により生じた回転に対する抵抗を克服することが
できる。更に、ハウジングは、アクチュエーター（後
述）をハウジングに確保するために１対の保持用ラグ６
７を持つ。
【００３２】特に図６−９と組み合わせて図３を参照す
れば、アクチュエーター４７が詳細に示される。アクチ
ュエーターは、レバーキャップ６８と６９、及びアクチ
ュエーターに回転力を加え易くするようにキャップから
伸びているレバーより構成される。レバーキャップの下
側の中に歯の環状トレイとして示された第２組の解除用
の歯７０がある。キャップ内の第２組の解除用の歯は、
関節運動伝達機構組立体が組み立てられたとき、振動円
錐４９の第１組の解除用の歯５２と組み合って相互作用
する、第２組の解除用の歯の内側に４個の駆動ラグノッ
チ７１がある。組立て中、回転円錐軸４８の駆動ラグ５
８がレバーキャップの駆動ラグノッチと揃えられ、回転
円錐軸をキャップに確保する。キャップ下側には保持用
リップ７２もあり、これはハウジングへのレバーキャッ
プの取り付けを容易にするためにノズル本体から伸びて
いるハウジングの保持用ラグの上に適合する。最後に、
キャップは、レバーキャップの時計方向又は反時計方向
の回転の程度を限定するために４個のバヨネット型停止
具７３を備える。
【００３３】再び図３を参照すれば、下方ばね７４が下
方ばねの座７５上でハウジング６２内に座り、振動円錐
を振動円錐の座６３から離すように上方に押す。対応し
て、上方ばね８０がレバーキャップの下側に確保され、
回転円錐軸の環状の上方ばねの座５９を押して座る。従
って、上方ばねは、回転円錐軸を、ノズル本体の内側筒
状ポスト６５の円錐軸の座６６に押し付ける下向きの方
向で強制する、このため、第１組及び第２組の固定用の
歯は互いに押し付けられる。上方ばねはレバーキャップ
６８を上向きに押し、このため、キャップの保持用リッ
プ７２は、ノズル本体の保持用ラグ６７の下面との摩擦
接触状態にさせられる。更に、レバーキャップの押し下
げが上方ばねを圧縮させ、このため、レバーキャップは
バヨネット型停止具７３を通過して回転でき、関節運動
伝達機構組立体の組立及び分解を容易にする。
【００３４】図４及び５を参照すれば、図４及び５の第
１組及び第２組の固定用の歯及び解除用の歯の各が、歯
の先端７６及び歯の先端から別れている１対の歯の側辺
７７を有することが観察できる。各歯は隣接の歯から歯
を２分する中心線７８及び歯の１対の側辺の一方と平行
で中心線から角度を付けられた線７９により定め得る歯
の角度を持つ。図４及び５に示されるように、第１組及
び第２組の解除用の歯の各についての（図５にＡ２で示
される）歯の角度が、第１組及び第２組の固定用の歯の
各についての（図４にＡ１で示される）歯の角度より大
きいことが有利である。更に、円錐軸、振動円錐及びレ
バーキャップは、好ましくは、第１組及び第２組の解除
用の歯の間の摩擦係数が第１組及び第２組の固定用の歯
の間の摩擦係数より小さい材料より作られることが望ま
しい。従って、回転円錐軸を回転させようとして第１組
及び第２組の固定用の歯を外すために克服しなければな
らない抵抗は、レバーキャップを回転させようとして第
１組及び第２組の解除用の歯を外すために克服しなけれ
ばならない抵抗より大きい。
【００３５】図１９を参照すれば、関節運動固定用組立
体が固定位置において示される。この位置においては、
第１組及び第２組の固定用及び解除用の歯は、互いに押
し合わせられ噛み合って、レバーキャップの回転を防止
する。このため、ステープラーの外科用連結具組立体の
関節運動位置が固定される。ステープラーの外科用連結
具組立体に回転力を直接加える場合は、外科用連結具組
立体の関節運動位置を変化させるには、第１組及び第２
組の固定用の歯の間の大きな抵抗を克服することが必要
となる。
【００３６】図２０には、レバーに回転力が加えられた
ときの関節運動伝達機構組立体が示される。レバーキャ
ップは回転運動しないようにされているため、この回転
力が加えられると、レバーキャップの下側内の第２組の
解除用の歯の乗上げ作用が振動円錐を下向きに押す（振
動円錐の回り止めラグは、ノズル本体から伸びているハ
ウジングの回り止め溝内での振動円錐の垂直運動だけを
許す）。従って、回転力は、下方ばねによりなされる上
向き方向とは逆方向に振動円錐を強制し、レバーが回さ
れたとき、第１組及び第２組の解除用の歯を互いに乗り
上げさせる。従って、レバーが固定位置から解除位置に
回されると、第１組及び第２組の固定用の歯は互いに外
れる。関節運動伝達機構組立体は、独立的に大きな抵抗
を有する第１組及び第２組の固定用の歯の組合を、第１
組及び第２組の解除用の歯により与えられる小さな回転
抵抗で容易に外せるという利点が得られ有利である。
【００３７】レバーが回されると、関節運動伝達機構組
立体はステープラーの外科用連結具組立体を遠隔的に関
節運動させる。希望の程度の関節運動が得られると、レ
バーに加えられた回転力が解放され、第１組及び第２組
の固定用及び解除用の歯は、直ちに互いに組み合って関
節運動伝達機構組立体を、従ってステープラーの外科用
連結具組立体を固定位置に位置決めする。
【００３８】本発明はその最も好ましい実施例に関して
説明されたが、熟練技術者は多くの別の実施例が容易に
実現できるであろう。例えば、本発明は関節式内視鏡用
ステープラーに関連して説明されたが、本発明は、これ
を等しく通常の開腹式外科器具に応用できる。更に、本
発明は外科用連結具組立体の遠隔式関節運動を提供する
関節運動伝達機構組立体に関して説明されたが、本発明
は、これを等しく別の種類のエンドエフェクターの遠隔
式関節運動を提供する器具に応用可能である。従って、
この詳細な説明に関連して説明された好ましい実施例は
本発明だけを図解するために意図されたものであって、
請求される本発明の範囲又は精神を限定することを意図
したものではない。
【００３９】本発明の実施態様は以下のとおりである。
【００４０】１．器械のエンドエフェクターを遠隔的に
関節運動させるための関節運動伝達機構組立体を備えた
関節式外科器械であって、前記組立体が ａ）前記器械に取り付けられた本体であって、これから
伸びているハウジングを有する前記本体、 ｂ）前記ハウジング内に回転方向には静止して置かれ前
記ハウジング内で振動運動をする振動部材であって、こ
れに第１組の解除用の歯と第１組の固定用の歯とを有す
る前記振動部材、 ｃ）前記振動部材内で回転運動するように前記振動部材
内に取り付けられた回転部材であって、前記回転部材の
回転運動を駆動軸に取り付けられた長い伝導用ロッドの
軸方向運動に転換するために前記関節運動伝達機構組立
体の前記本体内に伸びている駆動軸をその上に有し、更
に第２組の固定用の歯をその上に有する前記回転部材、
及び ｄ）前記本体の前記ハウジングに回転可能に取り付けら
れかつ前記回転部材に回転力を加えるために前記回転部
材に固定されたアクチュエーターであって、その上に第
２組の解除用の歯を有する前記アクチュエーターを備
え、前記関節運動伝達機構組立体が固定位置にあるとき
は、前記第１組及び第２組の固定用及び解除用の歯が互
いに押し合うように強制されて噛み合い組み合わせられ
て前記回転部材の回転を防止し、そして前記関節運動伝
達機構組立体が解除位置にあるときは、前記アクチュエ
ーターが前記振動部材上の前記第１組の解除用の歯の強
制を無くしそして前記第１組及び第２組の固定用の歯を
外し、前記回転部材の回転を可能とする前記関節式外科
器械。
【００４１】２．前記第１組及び第２組の解除用及び固
定用の歯の各は先端及び前記先端から分岐している１対
の側辺を有し、これらの歯の各は隣接の歯から前記歯を
２分している中心線及び前記１対の側辺の一方と平行な
斜めの線により定められた歯角度を有し、第１組及び第
２組の解除用の歯の各の前記歯角度が前記第１組及び第
２組の固定用の歯の各の前記歯角度より大きい実施態様
１の器械。
【００４２】３．前記関節運動伝達機構組立体が前記固
定位置にあるとき、前記本体の前記ハウジング内に座ら
せられた下方ばね及び前記回転部材内に置かれた上方ば
ねが前記第１組及び第２組の固定用及び解除用の歯を互
いに近寄るように強制する実施態様２の器械。
【００４３】４．前記第１組及び第２組の固定用及び解
除用の歯が前記歯のリングとして表示される実施態様３
の器械。
【００４４】５．前記第１組及び第２組の固定用の歯が
前記第１組及び第２組の解除用の歯の間に同心状に表示
される実施態様４の器械。
【００４５】６．前記アクチュエーターが、前記ハウジ
ングに回転可能に取り付けられたキャップ、及び前記ア
クチュエーターに回転力を加えるように前記アクチュエ
ーターを掴むために前記キャップから伸びているレバー
を有する実施態様５の器械。 ７．前記キャップがその上に前記第２組の解除用の歯を
有する実施態様６の器械。
【００４６】８．前記第１組及び第２組の解除用の歯が
第１の摩擦係数を有し、前記第１組及び第２組の固定用
の歯が第２の摩擦係数を有し、前記第１の摩擦係数が前
記第２の摩擦係数より小さい実施態様２の器械。
【図面の簡単な説明】
【図１】内視鏡用直線状ステープラーにおける本発明の
好ましい関節運動式外科器械の短縮側面図である。ステ
ープラーのフレームの一部分は、フレームに対する関節
運動伝達機構組立体の取付けを示すために切り取られて
いる。
【図２】非関節運動位置からのステープラーのエンドエ
フェクターの関節運動を示す図１の内視鏡用直線状ステ
ープラーの平面図である。
【図３】図１の内視鏡用直線状ステープラーの関節運動
伝達機構組立体の分解等角図である。
【図４】図３に示された関節運動伝達機構組立体の第１
組及び第２組の固定用の歯の組合の線図的な図面であ
る。
【図５】図３に示された関節運動伝達機構組立体の第１
組及び第２組の解除用の歯の組合の線図的な図面であ
る。
【図６】図３に示された関節運動伝達機構組立体のアク
チュエーター平面図である。
【図７】図６のアクチュエーターの側面図である。
【図８】図６のアクチュエーターの底視図である。
【図９】図８の線８−８に沿って得られた断面図であ
る。
【図１０】図３に示された関節運動伝達機構組立体の回
転部材の平面図である。
【図１１】図１０の回転部材の側面図である。
【図１２】図１０の回転部材の底視図である。
【図１３】一般に図１２の線１３−１３に沿って得られ
た断面図である。
【図１４】図３に示された関節運動伝達機構組立体の本
体の平面図である。
【図１５】図１４の本体のの側面図である。
【図１６】図１４の本体の底視図である。
【図１７】図１４の線１７−１７に沿って得られた長手
方向断面図である。
【図１８】図１４の線１８−１８に沿って得られた横断
方向断面図である。
【図１９】図３に示された関節運動伝達機構組立体の横
断方向断面における組立図である。組立体は固定された
位置で示され、固定された関節運動位置においてステー
プラーのエンドエフェクターを固定している。
【図２０】図１９と同様な横断方向断面を示している別
の組立図である。この組立体はエンドエフェクターの関
節運動ができる解除位置において示される。
【符号の説明】
３１ 手元側端部 ３２ フレーム ３３ ハンドグリップ ３４ 引き金 ３５ 引き金 ３７ 外科用連結具組立体 ３８ アンビル ３９ 細長い溝 ４０ シャフト
───────────────────────────────────────────────────── フロントページの続き (72)発明者 ブライアン・デイ・ノデル アメリカ合衆国オハイオ州45140シンシナ テイ・ブリントントレイル3315

Claims (1)

    【特許請求の範囲】
  1. 【請求項１】 器械のエンドエフェクターを遠隔的に関
    節運動させるための関節運動伝達機構組立体を備えた関
    節式外科器械であって、前記組立体が ａ）前記器械に取り付けられた本体であって、これから
    伸びているハウジングを有する前記本体、 ｂ）前記ハウジング内に回転方向には静止して置かれ前
    記ハウジング内で振動運動をする振動部材であって、こ
    れに第１組の解除用の歯と第１組の固定用の歯とを有す
    る前記振動部材、 ｃ）前記振動部材内で回転運動するように前記振動部材
    内に取り付けられた回転部材であって、前記回転部材の
    回転運動を駆動軸に取り付けられた長い伝導用ロッドの
    軸方向運動に転換するために前記関節運動伝達機構組立
    体の前記本体内に伸びている駆動軸をその上に有し、更
    に第２組の固定用の歯をその上に有する前記回転部材、
    及び ｄ）前記本体の前記ハウジングに回転可能に取り付けら
    れかつ前記回転部材に回転力を加えるために前記回転部
    材に固定されたアクチュエーターであって、その上に第
    ２組の解除用の歯を有する前記アクチュエーターを備
    え、 前記関節運動伝達機構組立体が固定位置にあるときは、
    前記第１組及び第２組の固定用及び解除用の歯が互いに
    押し合うように強制されて噛み合い組み合わせられて前
    記回転部材の回転を防止し、そして前記関節運動伝達機
    構組立体が解除位置にあるときは、前記アクチュエータ
    ーが前記振動部材上の前記第１組の解除用の歯の強制を
    無くしそして前記第１組及び第２組の固定用の歯を外
    し、前記回転部材の回転を可能とする前記関節式外科器
    械。
JP13744797A 1996-05-13 1997-05-13 外科器械用の関節運動伝達機構 Expired - Lifetime JP3911068B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/645,434 US5823066A (en) 1996-05-13 1996-05-13 Articulation transmission mechanism for surgical instruments
US08/645434 1996-05-13

Publications (2)

Publication Number Publication Date
JPH1043190A true JPH1043190A (ja) 1998-02-17
JP3911068B2 JP3911068B2 (ja) 2007-05-09

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US (1) US5823066A (ja)
EP (1) EP0807409B1 (ja)
JP (1) JP3911068B2 (ja)
AU (1) AU707932B2 (ja)
CA (1) CA2204953C (ja)
DE (1) DE69721119T2 (ja)
ES (1) ES2197307T3 (ja)

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AU707932B2 (en) 1999-07-22
AU2015897A (en) 1997-11-20
JP3911068B2 (ja) 2007-05-09
EP0807409B1 (en) 2003-04-23
DE69721119T2 (de) 2004-01-29
CA2204953C (en) 2005-11-08
US5823066A (en) 1998-10-20
ES2197307T3 (es) 2004-01-01
EP0807409A1 (en) 1997-11-19
DE69721119D1 (de) 2003-05-28
CA2204953A1 (en) 1997-11-13

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