WO2016063850A1 - Gripping device - Google Patents
Gripping device Download PDFInfo
- Publication number
- WO2016063850A1 WO2016063850A1 PCT/JP2015/079519 JP2015079519W WO2016063850A1 WO 2016063850 A1 WO2016063850 A1 WO 2016063850A1 JP 2015079519 W JP2015079519 W JP 2015079519W WO 2016063850 A1 WO2016063850 A1 WO 2016063850A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- piece
- linear motion
- pinching
- elastic member
- inclined surface
- Prior art date
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
Abstract
The present invention comprises the following: a plurality of gripping pieces (10) that open and close by rotating around a rotation fulcrum part (21) which serves as a fulcrum; a cylindrical member (20) that supports the rotation fulcrum part (21) so that the front end sides of the gripping pieces (10) are made to protrude forward; an advance/retreat mechanism (30) that is supported within the cylindrical member (20) and that makes a linear movement member (31) advance and retreat; and elastic members (40) that are connected at a front end side thereof to an outer peripheral side of the rotation fulcrum part (21) of the gripping pieces (10) and that are connected at a rear end side thereof to the linear movement member (31). A linear advancing movement of the linear movement member (31) is transmitted to the gripping pieces (10) via the elastic members (40) to rotate the gripping pieces (10).
Description
本発明は、医療現場にて、医療用具や器官等を挟持したり、器官を挟み切ったりするのに用いることができる挟み装置に関するものである。
The present invention relates to a pinching device that can be used for pinching medical tools, organs, and the like, and pinching organs at a medical site.
従来、この種の発明には、例えば特許文献１に記載されるもののように、回動支点部を支点にし回動することで開閉する複数の挟み片（把持部材１，２）と、前記挟み片（把持部材１，２）の前端側を前方へ突出させるようにして前記回動支点部を支持した筒状部材（固定管１０）と、前記筒状部材（固定管１０）に挿通された複数本のワイヤ（Ｗ）とを備え、前記ワイヤ（Ｗ）を一方又は他方へ引くことにより前記挟み片（把持部材１，２）を回動させるようにした医療用の鉗子がある。
Conventionally, in this kind of invention, as described in Patent Document 1, for example, a plurality of clip pieces (gripping members 1 and 2) that open and close by rotating around a rotation fulcrum portion and the clip A cylindrical member (fixed tube 10) supporting the rotating fulcrum portion so that the front end side of the piece (gripping members 1, 2) protrudes forward, and the cylindrical member (fixed tube 10) is inserted. There is a medical forceps provided with a plurality of wires (W) and configured to rotate the pinching pieces (gripping members 1, 2) by pulling the wire (W) to one or the other.
ところで、前記従来技術を腹腔鏡手術等に適用するために小型化する場合、前記筒状部材の外径を小さくするのに伴い前記ワイヤも極細いものを選択せざるをえず、ワイヤ自身やワイヤの結合部等の強度及び耐久性が低下することにより、前記挟み片による挟持力が制限される。また、ワイヤの伸びや結合部の緩み等に起因して、ワイヤに弛みを生じて動作性が低下するため、この弛みを除去するための機構を具備する必要が生じる。
By the way, when the conventional technique is downsized to apply to laparoscopic surgery or the like, the wire must be selected to be extremely thin as the outer diameter of the cylindrical member is reduced, and the wire itself or When the strength and durability of the connecting portion of the wire and the like are lowered, the holding force by the holding piece is limited. Further, since the wire is slackened due to elongation of the wire, looseness of the coupling portion, and the like, and the operability is lowered, it is necessary to provide a mechanism for removing this slackness.
本発明は上記従来事情に鑑みてなされたものであり、その課題とする処は、小型化した上で、耐久性及び動作性を向上することができる挟み装置を提供することにある。
The present invention has been made in view of the above-described conventional circumstances, and a problem to be solved by the present invention is to provide a pinching device that can be reduced in size and improved in durability and operability.
上記課題を解決するための一手段は、回動支点部を支点にして回動することで互いに開閉する複数の挟み片と、前記挟み片の前端側を前方へ突出させるようにして前記回動支点部を支持した筒状部材と、該筒状部材内に支持されて直動部材を進退させる進退機構と、前端側を前記挟み片における前記回動支点部の外周側に接続するとともに後端側を前記直動部材に接続した弾性部材とを備え、前記直動部材の直進運動を前記弾性部材を介して前記挟み片に伝達し、前記挟み片を前記回動支点部を支点にして回動させるようにしたことを特徴とする。
One means for solving the above-described problem is that the plurality of sandwiching pieces that open and close by rotating around the pivoting fulcrum portion and the front end side of the sandwiching piece project forward. A cylindrical member that supports the fulcrum part, an advancing / retracting mechanism that is supported in the cylindrical member to advance and retract the linear movement member, a front end side is connected to the outer peripheral side of the rotating fulcrum part in the clip piece, and a rear end An elastic member connected to the linear movement member on the side, and the linear movement of the linear movement member is transmitted to the pinching piece via the elastic member, and the pinching piece is rotated around the rotating fulcrum portion as a fulcrum. It is made to move.
本発明は、以上説明したように構成されているので、医療用に適用可能な挟み装置を小型化した上で、耐久性及び動作性を向上することができる。
Since the present invention is configured as described above, it is possible to improve durability and operability after downsizing a pinching device applicable for medical use.
本実施の形態の第一の特徴は、回動支点部を支点にし回動することで互いに開閉する複数の挟み片と、前記挟み片の前端側を前方へ突出させるようにして前記回動支点部を支持した筒状部材と、該筒状部材内に支持されて直動部材を進退させる進退機構と、前端側を前記挟み片における前記回動支点部の外周側に接続するとともに後端側を前記直動部材に接続した弾性部材とを備え、前記直動部材の直進運動を前記弾性部材を介して前記挟み片に伝達し、前記挟み片を回動させるようにした。
ここで、前記「挟み装置」には、複数の前記挟み片の前端側で物体を挟み持つようにした態様や、複数の前記挟み片の前端側で物体を挟み切るようにした態様等を含む。
また、前記「弾性部材」には、板バネや、コイルスプリング、ゴム体等を含む。
前記構成によれば、進退機構により直動部材を進退させれば、直動部材の直進運動が弾性部材を介して挟み片に伝達し、該挟み片が回動して、他の挟み片との間を開閉する。挟み片に負荷が加わる際に、該負荷を弾性部材の弾性により軽減することができ、この結果、耐久性及び動作性を向上することができる。 A first feature of the present embodiment is that the plurality of sandwiching pieces that open and close by rotating with the pivoting fulcrum portion as a fulcrum, and the pivoting fulcrum so that the front end side of the sandwiching piece protrudes forward. A cylindrical member that supports the portion, an advancing / retracting mechanism that is supported in the cylindrical member and moves the linearly moving member back and forth, and a front end side is connected to an outer peripheral side of the rotating fulcrum portion of the clip piece and a rear end side And an elastic member connected to the linear motion member, and the linear motion of the linear motion member is transmitted to the pinching piece via the elastic member, thereby rotating the pinching piece.
Here, the “clamping device” includes a mode in which an object is held on the front end side of the plurality of clip pieces, a mode in which an object is clipped on the front end side of the plurality of clip pieces, and the like. .
The “elastic member” includes a leaf spring, a coil spring, a rubber body, and the like.
According to the above configuration, when the linear motion member is advanced and retracted by the advance / retreat mechanism, the linear motion of the linear motion member is transmitted to the sandwich piece via the elastic member, and the sandwich piece rotates to Open and close between. When a load is applied to the clip piece, the load can be reduced by the elasticity of the elastic member, and as a result, durability and operability can be improved.
ここで、前記「挟み装置」には、複数の前記挟み片の前端側で物体を挟み持つようにした態様や、複数の前記挟み片の前端側で物体を挟み切るようにした態様等を含む。
また、前記「弾性部材」には、板バネや、コイルスプリング、ゴム体等を含む。
前記構成によれば、進退機構により直動部材を進退させれば、直動部材の直進運動が弾性部材を介して挟み片に伝達し、該挟み片が回動して、他の挟み片との間を開閉する。挟み片に負荷が加わる際に、該負荷を弾性部材の弾性により軽減することができ、この結果、耐久性及び動作性を向上することができる。 A first feature of the present embodiment is that the plurality of sandwiching pieces that open and close by rotating with the pivoting fulcrum portion as a fulcrum, and the pivoting fulcrum so that the front end side of the sandwiching piece protrudes forward. A cylindrical member that supports the portion, an advancing / retracting mechanism that is supported in the cylindrical member and moves the linearly moving member back and forth, and a front end side is connected to an outer peripheral side of the rotating fulcrum portion of the clip piece and a rear end side And an elastic member connected to the linear motion member, and the linear motion of the linear motion member is transmitted to the pinching piece via the elastic member, thereby rotating the pinching piece.
Here, the “clamping device” includes a mode in which an object is held on the front end side of the plurality of clip pieces, a mode in which an object is clipped on the front end side of the plurality of clip pieces, and the like. .
The “elastic member” includes a leaf spring, a coil spring, a rubber body, and the like.
According to the above configuration, when the linear motion member is advanced and retracted by the advance / retreat mechanism, the linear motion of the linear motion member is transmitted to the sandwich piece via the elastic member, and the sandwich piece rotates to Open and close between. When a load is applied to the clip piece, the load can be reduced by the elasticity of the elastic member, and as a result, durability and operability can be improved.
第二の特徴としては、物体を挟んだ際の保持力を向上するために、前記挟み片における回動支点部よりも後側の部分と、前記直動部材の前端部とのうち、そのどちらか一方に傾斜面を設けるとともに他方には前記傾斜面に摺接可能な被摺接面を設け、前記直動部材が前進した際に前記傾斜面と前記被摺接面とを当接させるようにした。
As a second feature, in order to improve a holding force when an object is sandwiched, either of a portion on the rear side of the rotation fulcrum portion of the sandwiching piece and a front end portion of the linear motion member. An inclined surface is provided on one side, and a sliding contact surface that can slide on the inclined surface is provided on the other side, and the inclined surface and the sliding contact surface are brought into contact with each other when the linear motion member moves forward. I made it.
第三の特徴は、好ましい具体的態様として、前記弾性部材を板バネとした。
The third feature is that the elastic member is a leaf spring as a preferred specific embodiment.
次に、上記特徴を有する好ましい実施例を、図面に基づいて詳細に説明する。
Next, a preferred embodiment having the above features will be described in detail with reference to the drawings.
本発明に係る挟み装置１は、回動支点部２１を支点にし回動することで開閉する複数の挟み片１０と、前記挟み片１０の前端側を前方へ突出させるようにして前記回動支点部２１を支持した筒状部材２０と、該筒状部材２０内に支持されて直動部材３１を進退させる進退機構３０と、前端側を前記挟み片１０における前記回動支点部２１の外周側に接続するとともに後端側を前記直動部材３１に接続した弾性部材４０とを備え、前記直動部材３１の直進運動を前記弾性部材４０を介して前記挟み片１０に伝達し、前記挟み片１０を回動させる（図１～図４参照）。
The pinching device 1 according to the present invention includes a plurality of pinching pieces 10 that are opened and closed by turning around a turning fulcrum portion 21 and a front end side of the pinching piece 10 that protrudes forward. A cylindrical member 20 that supports the portion 21; an advancing / retracting mechanism 30 that is supported in the cylindrical member 20 to advance and retract the linear motion member 31; and a front end side of the pinch piece 10 on the outer peripheral side of the rotating fulcrum portion 21 An elastic member 40 having a rear end connected to the linear motion member 31 and transmitting the linear movement of the linear motion member 31 to the pinching piece 10 via the elastic member 40. 10 is rotated (see FIGS. 1 to 4).
挟み片１０は、筒状部材２０の中心に対し直交する方向へ重なり合うように二つ設けられる。これら二つの挟み片１０，１０は、後端側に挿通される共通の回動支点部２１（軸部材）により回転自在に支持される。そして、これら二つの挟み片１０，１０は、物体Ａを挟持可能な鉗子を構成しており、前端側の挟持面１１，１１を互いに接近させるように回動して閉鎖動作し、同挟持面１１，１１を互いに離間させるように回動して開放動作する。
Two sandwich pieces 10 are provided so as to overlap in a direction orthogonal to the center of the cylindrical member 20. These two pinching pieces 10 and 10 are rotatably supported by a common rotation fulcrum 21 (shaft member) inserted through the rear end side. The two sandwiching pieces 10 and 10 constitute forceps capable of sandwiching the object A. The sandwiching pieces 10 and 10 rotate and close so that the front end side sandwiching surfaces 11 and 11 approach each other. 11 and 11 are rotated so as to be spaced apart from each other and open.
各挟み片１０の後端部には、後述する進退機構３０の傾斜面３１ａによって摺接可能な被摺接面１２と、後述する弾性部材４０の前端部が止着される被止着面１３が設けられる。
被摺接面１２は、挟み片１０の回転軸に対し平行な平坦状の傾斜面である。
被止着面１３は、図示例によれば、被摺接面１２との間に回動支点部２１を置くようにして配置されるとともに、被摺接面１２と略平行に設けられる。 At the rear end portion of eachclip piece 10, a sliding contact surface 12 that can be slidably contacted by an inclined surface 31a of an advancing / retreating mechanism 30 described later, and a fixing surface 13 to which a front end portion of an elastic member 40 described later is fixed. Is provided.
The slidingcontact surface 12 is a flat inclined surface parallel to the rotation axis of the sandwiching piece 10.
According to the illustrated example, the to-be-fixed surface 13 is disposed so as to place the rotation fulcrum portion 21 between the to-be-slidable contact surface 12 and is provided substantially parallel to the to-be-slidable contact surface 12.
被摺接面１２は、挟み片１０の回転軸に対し平行な平坦状の傾斜面である。
被止着面１３は、図示例によれば、被摺接面１２との間に回動支点部２１を置くようにして配置されるとともに、被摺接面１２と略平行に設けられる。 At the rear end portion of each
The sliding
According to the illustrated example, the to-
筒状部材２０は、長尺円筒状の部材であり、その前端側における径方向の両側に、前方へ突出する支持片部２０ａを有し、これら両側の支持片部２０ａの間に、回動支点部２１（軸部材）を支持している。
この筒状部材２０内には、進退機構３０、および進退機構３０の給電配線（図示せず）等が収納される。 Thecylindrical member 20 is a long cylindrical member, and has support piece portions 20a protruding forward on both sides in the radial direction on the front end side thereof, and rotates between the support piece portions 20a on both sides. The fulcrum part 21 (shaft member) is supported.
In thiscylindrical member 20, an advancing / retreating mechanism 30, a power supply wiring (not shown) of the advancing / retreating mechanism 30, and the like are accommodated.
この筒状部材２０内には、進退機構３０、および進退機構３０の給電配線（図示せず）等が収納される。 The
In this
回動支点部２１は、円柱状または円筒状の軸部材であり、その両端部を、筒状部材２０前端側の両支持片部２０ａ，２０ａ（図１参照）に固定している。
この回動支点部２１は、挟み片１０，１０の後端側に貫通状に挿入され、各挟み片１０を回転自在に支持する。 Therotation fulcrum portion 21 is a columnar or cylindrical shaft member, and both end portions thereof are fixed to both support piece portions 20a and 20a (see FIG. 1) on the front end side of the tubular member 20.
Thepivot fulcrum portion 21 is inserted in a penetrating manner on the rear end side of the clip pieces 10 and 10 and rotatably supports the clip pieces 10.
この回動支点部２１は、挟み片１０，１０の後端側に貫通状に挿入され、各挟み片１０を回転自在に支持する。 The
The
また、進退機構３０は、回転駆動源（図示せず）によって直動部材３１を進退するようにした機構である。
前記回転駆動源は、電動式のギヤモータであり、例えば、モータの回転力を遊星歯車により適宜な回転速度に調整して出力する構成とすればよい。この回転駆動源における出力軸の前端側には、送りネジ３２が設けられ、この送りネジ３２には直動部材３１が螺合されている。 The advance /retreat mechanism 30 is a mechanism in which the linear motion member 31 is advanced and retracted by a rotational drive source (not shown).
The rotational drive source is an electric gear motor, and for example, the rotational force of the motor may be adjusted to an appropriate rotational speed by a planetary gear and output. Afeed screw 32 is provided on the front end side of the output shaft in the rotational drive source, and a linear motion member 31 is screwed to the feed screw 32.
前記回転駆動源は、電動式のギヤモータであり、例えば、モータの回転力を遊星歯車により適宜な回転速度に調整して出力する構成とすればよい。この回転駆動源における出力軸の前端側には、送りネジ３２が設けられ、この送りネジ３２には直動部材３１が螺合されている。 The advance /
The rotational drive source is an electric gear motor, and for example, the rotational force of the motor may be adjusted to an appropriate rotational speed by a planetary gear and output. A
直動部材３１は、その内部に、前記送りネジ３２に螺合する雌ネジ（図示せず）を有する。直動部材３１は、筒状部材２０内周面に固定されたスペーサ２２に対し回転不能且つ進退自在に係合している。この構成は、例えば、直動部材３１の外周部を角柱状に形成し、この直動部材３１の外周部をスペーサ２２の内面に摺接させて前後方向へ案内するようにした態様や、直動部材３１の外周部とスペーサ２２の内周部との内の一方に凸部を設けるとともに他方に前記凸部を前後方向へ案内する溝を設けた態様等とすればよい。
The linear motion member 31 has a female screw (not shown) screwed into the feed screw 32 therein. The linear motion member 31 is engaged with the spacer 22 fixed to the inner peripheral surface of the cylindrical member 20 so as not to rotate but to advance and retract. In this configuration, for example, the outer peripheral portion of the linear motion member 31 is formed in a prismatic shape, and the outer peripheral portion of the linear motion member 31 is slidably contacted with the inner surface of the spacer 22 and guided in the front-rear direction. A convex portion may be provided on one of the outer peripheral portion of the moving member 31 and the inner peripheral portion of the spacer 22, and a groove for guiding the convex portion in the front-rear direction may be provided on the other.
直動部材３１の前端部には、複数の挟み片１０にそれぞれ対応するように複数（図示例によれば二つ）の傾斜面３１ａが設けられる。各傾斜面３１ａは、挟み片１０の回転軸に平行な平坦状の傾斜面である。
A plurality of (two in the illustrated example) inclined surfaces 31 a are provided at the front end of the linear motion member 31 so as to correspond to the plurality of sandwiching pieces 10, respectively. Each inclined surface 31 a is a flat inclined surface parallel to the rotation axis of the sandwich piece 10.
傾斜面３１ａは、直動部材３１が前進した際に、挟み片１０後端の被摺接面１２に当接する。
詳細に説明すれば、この傾斜面３１ａは、図３及び図４に示すように、複数の挟み片１０が物体Ａを挟持した状態、又は複数の挟み片１０が閉鎖した状態において、直動部材３１が弾性部材４０を撓ませながら前進した際に、挟み片１０後端の被摺接面１２に食い込み、挟み片１０の挟持力を増加する。
また、直動部材３１が後退した際には、図２に示すように、各傾斜面３１ａが被摺接面１２から後方へ離れた後に、各弾性部材４０が平坦状に復元する（図２参照）。 Theinclined surface 31a contacts the sliding contact surface 12 at the rear end of the clip piece 10 when the linear motion member 31 moves forward.
More specifically, as shown in FIGS. 3 and 4, theinclined surface 31a is a linear motion member in a state where the plurality of sandwiching pieces 10 sandwich the object A or in a state where the plurality of sandwiching pieces 10 are closed. When 31 moves forward while bending the elastic member 40, it bites into the sliding contact surface 12 at the rear end of the pinching piece 10, and the pinching force of the pinching piece 10 is increased.
Further, when thelinear motion member 31 is retracted, each elastic member 40 is restored to a flat shape after each inclined surface 31a is moved backward from the sliding contact surface 12 as shown in FIG. 2 (FIG. 2). reference).
詳細に説明すれば、この傾斜面３１ａは、図３及び図４に示すように、複数の挟み片１０が物体Ａを挟持した状態、又は複数の挟み片１０が閉鎖した状態において、直動部材３１が弾性部材４０を撓ませながら前進した際に、挟み片１０後端の被摺接面１２に食い込み、挟み片１０の挟持力を増加する。
また、直動部材３１が後退した際には、図２に示すように、各傾斜面３１ａが被摺接面１２から後方へ離れた後に、各弾性部材４０が平坦状に復元する（図２参照）。 The
More specifically, as shown in FIGS. 3 and 4, the
Further, when the
また、弾性部材４０は、弾性的に撓むことが可能な金属製の板バネであり、荷重を受けない状態では、図２に示すように、平板状に保持される。そして、この弾性部材４０は、二つの挟み片１０，１０に対応するように二つ設けられる。各弾性部材４０は、その前端側を挟み片１０における被止着面１３に止着固定するとともに後端側を直動部材３１に止着固定している。
The elastic member 40 is a metal leaf spring that can be elastically bent, and is held in a flat plate shape as shown in FIG. Two elastic members 40 are provided so as to correspond to the two sandwich pieces 10, 10. Each elastic member 40 has its front end sandwiched and secured to the secured surface 13 of the piece 10 and its rear end secured to the linear motion member 31.
次に、上記構成の挟み装置１について、その特徴的な作用効果を詳細に説明する。
先ず、図２に示すように、直動部材３１を両挟み片１０，１０の後端部から後方へ離した状態では、各弾性部材４０が平坦な状態を保持し、このことによって、両挟み片１０が先端側を開放した状態に維持される。 Next, the characteristic effect of thepinching device 1 having the above configuration will be described in detail.
First, as shown in FIG. 2, in a state where thelinear motion member 31 is separated rearward from the rear end portions of the sandwiching pieces 10 and 10, each elastic member 40 maintains a flat state. The piece 10 is maintained in a state where the tip side is opened.
先ず、図２に示すように、直動部材３１を両挟み片１０，１０の後端部から後方へ離した状態では、各弾性部材４０が平坦な状態を保持し、このことによって、両挟み片１０が先端側を開放した状態に維持される。 Next, the characteristic effect of the
First, as shown in FIG. 2, in a state where the
前記状態から、進退機構３０の駆動により直動部材３１が前進すると、弾性部材４０の前端が各挟み片１０における回動支点部２１の周囲を押圧するため、各挟み片１０が回動支点部２１を中心して閉鎖方向へ回動する。従って、図３に示すように、両挟み片１０，１０の間に物体Ａがある場合、この物体Ａは両挟み片１０，１０の挟持面１１，１１によって挟まれる。そして、この挟持状態において、更に直動部材３１が前進すると、弾性部材４０が弾性変形し、各挟み片１０による物体Ａ表面への押圧力が安定する。
When the linear motion member 31 moves forward by driving the advance / retreat mechanism 30 from the above state, the front end of the elastic member 40 presses the periphery of the rotation fulcrum portion 21 of each clip piece 10, so that each clip piece 10 is a rotation fulcrum portion. It rotates in the closing direction about 21. Therefore, as shown in FIG. 3, when there is an object A between the sandwiching pieces 10, 10, the object A is sandwiched between the sandwiching surfaces 11, 11 of the sandwiching pieces 10, 10. In this clamping state, when the linear motion member 31 further advances, the elastic member 40 is elastically deformed, and the pressing force on the surface of the object A by each clamping piece 10 is stabilized.
そして、直動部材３１がさらに前進すると、図３に示すように、直動部材３１前端の傾斜面３１ａが、挟み片１０後端の被摺接面１２，１２に食い込む。このため、挟み片１０による挟持力が、比較的高く保持される。
When the linear motion member 31 further advances, the inclined surface 31a at the front end of the linear motion member 31 bites into the sliding contact surfaces 12 and 12 at the rear end of the sandwich piece 10 as shown in FIG. For this reason, the clamping force by the clamping piece 10 is kept comparatively high.
また、前記挟持状態において、進退機構３０の逆転により直動部材３１を後退させた場合には、直動部材３１前端の傾斜面３１ａと挟み片１０後端の被摺接面１２，１２が離れた後、弾性部材４０が元の平坦な状態に復元し、各挟み片１０が逆方向へ回動して、両挟み片１０，１０間が元の開放状態に戻る。
Further, when the linear motion member 31 is retracted by reverse rotation of the advance / retreat mechanism 30 in the clamping state, the inclined surface 31a at the front end of the linear motion member 31 and the slidable contact surfaces 12, 12 at the rear end of the clip piece 10 are separated. After that, the elastic member 40 is restored to the original flat state, the respective clip pieces 10 are rotated in the reverse direction, and the space between the clip pieces 10 and 10 is restored to the original open state.
よって、挟み装置１によれば、上述したように、弾性部材４０の弾力性により物体Ａから受ける反力を緩和して耐久性を向上できる上、挟み片１０後端部に対する傾斜面３１ａの当接により高い挟持力を得ることができる。また、従来技術のようにワイヤの緩みや弛みを生じることがないので、動作性も良好である。また、極小モータを用いて、細身で小型な挟み装置１を容易に構成することができる。
Therefore, according to the pinching device 1, as described above, the reaction force received from the object A can be relaxed by the elasticity of the elastic member 40 to improve durability, and the contact of the inclined surface 31 a against the rear end portion of the pinching piece 10 can be improved. A high clamping force can be obtained by contact. Further, since the wire does not loosen or slack unlike the prior art, the operability is also good. Moreover, the small and small pinching device 1 can be easily configured by using a very small motor.
なお、上記実施例によれば、二つの挟み片１０，１０によって鉗子を構成するようにしたが、他例としては、各挟み片１０に刃を設けて、二つの挟み片１０，１０によって物体を切るハサミを構成したり、三つ以上の挟み片１０を開閉する構成としたりすることも可能である。
In addition, according to the said Example, forceps was comprised by the two pinching pieces 10 and 10, but as another example, a blade is provided in each pinching piece 10 and an object is formed by the two pinching pieces 10 and 10. It is also possible to configure scissors that cut the squeeze or to open and close three or more sandwich pieces 10.
また、上記実施例によれば、弾性部材４０を板バネによって構成したが、弾性部材４０の他例としては、挟み片１０の後端と直動部材３１との間に設けられるコイルスプリングや、挟み片１０の後端と直動部材３１との間に設けられるゴム体等とすることも可能である。
Moreover, according to the said Example, although the elastic member 40 was comprised by the leaf | plate spring, as another example of the elastic member 40, the coil spring provided between the rear end of the clip piece 10 and the linear motion member 31, A rubber body or the like provided between the rear end of the clip piece 10 and the linear motion member 31 may be used.
また、上記実施例によれば、特に好ましい態様として、直動部材３１前端側の傾斜面３１ａを挟み片１０の後端部に摺接させる態様としたが、他例としては、傾斜面３１ａを省いて、直動部材３１前端を挟み片１０後端に非接触にした態様とすることも可能である。
Moreover, according to the said Example, although it was set as the aspect which makes the inclined surface 31a of the linear motion member 31 front-end side slidably contact with the rear-end part of the pinch piece 10 as a particularly preferable aspect, as another example, the inclined surface 31a is used. It is possible to omit the front end of the linear motion member 31 and make it non-contact with the rear end of the piece 10.
また、上記実施例によれば、弾性部材４０及び傾斜面３１ａを、複数の挟み片１０のそれぞれに対応するように複数設けたが、他例としては、弾性部材４０及び傾斜面３１ａの一方又は双方を、特定の挟み片１０のみに対応して設けることも可能である。
Moreover, according to the said Example, although the elastic member 40 and the inclined surface 31a were provided with two or more so as to correspond to each of the some pinching piece 10, as another example, one of the elastic member 40 and the inclined surface 31a or It is also possible to provide both in correspondence with only the specific clip piece 10.
また、上記実施例によれば、進退機構３０としてモータ及び送りネジ３２を用いたが、進退機構３０の他例としては、エアーモータや、油圧モータ、その他の回転式モータを用いることも可能である。
さらに、進退機構３０の他例としては、振動式直進運動機構や、電磁ソレノイドの直進駆動源等により、直動部材３１を直接的に進退させる構造とすることも可能である。 Further, according to the above-described embodiment, the motor and thefeed screw 32 are used as the advance / retreat mechanism 30. However, as another example of the advance / retreat mechanism 30, an air motor, a hydraulic motor, and other rotary motors can be used. is there.
Furthermore, as another example of the advance /retreat mechanism 30, a structure in which the linear motion member 31 is directly advanced / retracted by a vibration type linear motion mechanism, a linear drive source of an electromagnetic solenoid, or the like can be used.
さらに、進退機構３０の他例としては、振動式直進運動機構や、電磁ソレノイドの直進駆動源等により、直動部材３１を直接的に進退させる構造とすることも可能である。 Further, according to the above-described embodiment, the motor and the
Furthermore, as another example of the advance /
１：挟み装置
１０：挟み片
１２：被摺接面
２０：筒状部材
２１：回動支点部
３０：進退機構
３１：直動部材
３１ａ：傾斜面
４０：弾性部材
Ａ：物体 DESCRIPTION OF SYMBOLS 1: Clamping device 10: Clamping piece 12: Sliding contact surface 20: Cylindrical member 21: Rotating fulcrum part 30: Advance / retreat mechanism 31:Linear motion member 31a: Inclined surface 40: Elastic member A: Object
１０：挟み片
１２：被摺接面
２０：筒状部材
２１：回動支点部
３０：進退機構
３１：直動部材
３１ａ：傾斜面
４０：弾性部材
Ａ：物体 DESCRIPTION OF SYMBOLS 1: Clamping device 10: Clamping piece 12: Sliding contact surface 20: Cylindrical member 21: Rotating fulcrum part 30: Advance / retreat mechanism 31:
Claims (3)
- 回動支点部を支点にして互いに開閉する複数の挟み片と、前記挟み片を前方へ突出させるようにして前記回動支点部を支持した筒状部材と、該筒状部材内に支持されて直動部材を進退させる進退機構と、前端側を前記挟み片における前記回動支点部の外周側に接続するとともに後端側を前記直動部材に接続した弾性部材とを備え、前記直動部材の直進運動を前記弾性部材を介して前記挟み片に伝達し、前記挟み片を回動させるようにしたことを特徴とする挟み装置。 A plurality of sandwiching pieces that open and close each other with the pivoting fulcrum as a fulcrum, a tubular member that supports the pivoting fulcrum so that the sandwiching piece protrudes forward, and is supported in the tubular member An advancing / retreating mechanism for advancing and retracting the linear motion member; and an elastic member having a front end connected to an outer peripheral side of the rotation fulcrum portion of the clip piece and a rear end connected to the linear motion member. The pinch device is characterized in that the straight movement of is transmitted to the pinch piece via the elastic member, and the pinch piece is rotated.
- 前記挟み片における前記回動支点部よりも後側の部分と、前記直動部材の前端部とで、そのどちらか一方に傾斜面を設けるとともに、他方には前記傾斜面に摺接可能な被摺接面を設け、前記直動部材が前進した際に前記傾斜面と前記被摺接面とを当接させるようにしたことを特徴とする請求項１記載の挟み装置。 An inclined surface is provided on one of the pinch piece on the rear side of the pivot fulcrum portion and the front end portion of the linear motion member, and the other is a cover that can slide on the inclined surface. The pinching device according to claim 1, wherein a sliding contact surface is provided, and the inclined surface and the sliding contact surface are brought into contact with each other when the linear motion member advances.
- 前記弾性部材が、板バネであることを特徴とする請求項１又は２記載の挟み装置。 The pinching device according to claim 1 or 2, wherein the elastic member is a leaf spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016555221A JPWO2016063850A1 (en) | 2014-10-21 | 2015-10-20 | Pinching device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-214478 | 2014-10-21 | ||
| JP2014214478 | 2014-10-21 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2016063850A1 true WO2016063850A1 (en) | 2016-04-28 |
Family
ID=55760884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP2015/079519 WO2016063850A1 (en) | 2014-10-21 | 2015-10-20 | Gripping device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPWO2016063850A1 (en) |
| WO (1) | WO2016063850A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109044493A (en) * | 2018-09-04 | 2018-12-21 | 山东省肿瘤防治研究院（山东省肿瘤医院） | A kind of multifunctional tumor removing scissors |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5082000A (en) * | 1990-11-29 | 1992-01-21 | Applied Medical Technology, Inc. | Biopsy forceps with calde controlled jaws |
| JPH08164144A (en) * | 1994-12-15 | 1996-06-25 | Terumo Corp | Implement for surgery |
| JP2011239922A (en) * | 2010-05-18 | 2011-12-01 | Olympus Corp | Manipulator |
| US20120303025A1 (en) * | 2011-05-23 | 2012-11-29 | Tyco Healthcare Group Lp | Apparatus for Performing an Electrosurgical Procedure |
| US20130218199A1 (en) * | 2010-06-02 | 2013-08-22 | Covidien Lp | Apparatus for performing an electrosurgical procedure |
-
2015
- 2015-10-20 WO PCT/JP2015/079519 patent/WO2016063850A1/en active Application Filing
- 2015-10-20 JP JP2016555221A patent/JPWO2016063850A1/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5082000A (en) * | 1990-11-29 | 1992-01-21 | Applied Medical Technology, Inc. | Biopsy forceps with calde controlled jaws |
| JPH08164144A (en) * | 1994-12-15 | 1996-06-25 | Terumo Corp | Implement for surgery |
| JP2011239922A (en) * | 2010-05-18 | 2011-12-01 | Olympus Corp | Manipulator |
| US20130218199A1 (en) * | 2010-06-02 | 2013-08-22 | Covidien Lp | Apparatus for performing an electrosurgical procedure |
| US20120303025A1 (en) * | 2011-05-23 | 2012-11-29 | Tyco Healthcare Group Lp | Apparatus for Performing an Electrosurgical Procedure |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109044493A (en) * | 2018-09-04 | 2018-12-21 | 山东省肿瘤防治研究院（山东省肿瘤医院） | A kind of multifunctional tumor removing scissors |
| CN109044493B (en) * | 2018-09-04 | 2020-05-26 | 山东省肿瘤防治研究院（山东省肿瘤医院） | Multifunctional tumor stripping scissors |
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2016063850A1 (en) | 2017-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100392463B1 (en) | Electric hand | |
| JP5856817B2 (en) | Medical treatment tool and manipulator having the same | |
| JP5667727B1 (en) | Linear reciprocating device using electric drill | |
| JP2004535236A5 (en) | ||
| GB2404936A (en) | Pipe Spinner | |
| CN116269546B (en) | Minimally invasive surgical instrument based on conical flexible body | |
| JPWO2008136402A1 (en) | Robot joint structure and robot finger | |
| WO2016063850A1 (en) | Gripping device | |
| JP2009233790A (en) | Robot joint structure, robot finger, and robot hand | |
| JP5573892B2 (en) | Electric hand | |
| US20110146440A1 (en) | Manipulator arm mechanism | |
| KR102111614B1 (en) | Electrical clamping device | |
| CN106181805B (en) | Clamp forceps | |
| JP5035216B2 (en) | Electric hand | |
| WO2016174916A1 (en) | Manipulator | |
| CN109571524A (en) | A kind of manipulator equipped with worm gear lock | |
| KR20200003653A (en) | Forceps Driver Apparatus | |
| JP2000152451A (en) | Apparatus and method for stripping electric wire | |
| JPWO2016174916A6 (en) | manipulator | |
| WO2016063851A1 (en) | Clipping device | |
| TWI782993B (en) | Clamp and method for operating a clamp | |
| JP2017115295A (en) | Unlocking device | |
| CN218294335U (en) | Gear transmission structure of surgical instrument and surgical robot system | |
| JP3225211U (en) | Clincher driving device used for electric C-type ring clincher | |
| JP4132025B2 (en) | Machine tool chuck drive unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 15852571 Country of ref document: EP Kind code of ref document: A1 |
|
| ENP | Entry into the national phase |
Ref document number: 2016555221 Country of ref document: JP Kind code of ref document: A |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 15852571 Country of ref document: EP Kind code of ref document: A1 |