Surgical device
A surgical device includes a forceps device, driven portions to which a driving force is transmitted from outside the surgical device, plural wires, each being fixed to one of the driven portions and transmitting respective movements of the driven portions to the forceps device. The forceps device includes grasping portions that may be opened and closed by a movement of a first wire of the plural wires, and a joint portion that may be bent by a movement of one or more second wires of the plural wires.
1 . A surgical device comprising:
a forceps device configured to perform a bending movement, and configured to perform opening and closing movements of grasping portions of the forceps device;
a housing configured to be detachably attached to an adapter of a surgical robot;
a plurality of driven portions located in the housing and configured to be linearly driven by a driving force that is transmitted from outside the surgical device via the adapter; and
a plurality of cords, each being fixed to one of the plurality of driven portions, the plurality of cords transmitting respective linear movements of the plurality of driven portions to the forceps device,
wherein the forceps device includes a joint portion that is configured to perform the bending movement when a cord for the bending movement among the plurality of cords is pulled, and a link structure that is configured to perform the opening and closing movements when a cord for the opening and closing movements among the plurality of cords is moved.
2 . The surgical device according to claim 1 , wherein the joint portion comprises:
an outer shell that is cylindrical;
a first through hole that is coaxial with the outer shell, the cord for the opening and closing movements passing through the first through hole; and
a second through hole disposed between the first through hole and the outer shell, the cord for the bending movement passing through the second through hole.
3 . The surgical device according to claim 1 , wherein the plurality of cords include a first wire for a first bending movement, a cable for the opening and closing movements, and a second wire for a second bending movement, and
wherein the joint portion comprises:
an outer shell that is cylindrical;
a first through hole that is coaxial with the outer shell, the cable passing through the first through hole; and
a plurality of second through holes disposed between the first through hole and the outer shell, the first wire and the second wire passing through a respective one of the plurality of second through holes.
4 . The surgical device according to claim 1 , wherein the housing comprises a plurality of openings through which the driving force is transmitted to the plurality of driven portions via the adapter.
5 . The surgical device according to claim 1 , wherein the plurality of cords include a cable for the opening and closing movement and a plurality of wires for the bending movement, and
wherein the joint portion comprises:
an outer shell that is cylindrical;
a first through hole that is coaxial with the outer shell, the cable passing through the first through hole; and
a plurality of second through holes disposed between the first through hole and the outer shell, the plurality of wires passing respectively through the plurality of second through holes.
6 . The surgical device according to claim 5 , wherein the plurality of second through holes are radially spaced apart from one another around the first through hole.
7 . The surgical device according to claim 1 , wherein:
the plurality of driven portions include a first driven portion, a second driven portion, and a third driven portion, and
the plurality of cords include a first wire for the bending movement fixed to the first driven portion, a cable for the opening and closing movements fixed to the second driven portion, and a second wire for the bending movement fixed to the third driven portion.
8 . The surgical device according to claim 7 , wherein the forceps device is configured to perform:
a first bending movement;
a second bending movement in a direction that is different from a direction of the first bending movement; and
the opening and closing movements,
wherein the first bending movement and the second bending movement are caused by movements of the first wire for the bending movement and the second wire for the bending movement, respectively, and
wherein the opening and closing movements are caused by movements of the cable for the opening and closing movements.
9 . The surgical device according to claim 7 , wherein the first driven portion, the second driven portion, and the third driven portion linearly move in parallel with each other in a first direction, and are arranged in a second direction that intersects the first direction, and
wherein the first driven portion, the second driven portion, and the third driven portion are each arranged in a respective one of three long holes of the housing, and the first driven portion, the second driven portion, and the third driven portion are arranged relative to each other in the second direction as viewed in a direction in which the housing is attached to and detached from the adapter.
10 . The surgical device according to claim 9 , wherein the forceps device is configured to perform:
a first bending movement;
a second bending movement in a direction that is different from a direction of the first bending movement; and
the opening and closing movements,
wherein the first bending movement and the second bending movement are caused by movements of the first wire for the bending movement and the second wire for the bending movement, and
wherein the opening and closing movements are caused by movements of the cable for the opening and closing movements.
11 . A surgical device comprising:
a forceps device;
a housing configured to be detachably attached to an adapter of a surgical robot;
a plurality of driven portions located in the housing and configured to be linearly driven by a driving force that is transmitted from outside the surgical device via the adapter;
a plurality of wires, each being fixed to one of the plurality of driven portions, the plurality of wires transmitting respective linear movements of the plurality of driven portions to the forceps device,
wherein the forceps device comprises:
a plurality of grasping portions configured to be opened and closed by a movement of a first wire of the plurality of wires; and
a joint portion configured to bend by a movement of at least one second wire of the plurality of wires.
12 . The surgical device according to claim 11 , wherein:
the at least one second wire includes a plurality of second wires,
the plurality of driven portions include a first driven portion, a second driven portion, and a third driven portion, and
the first wire is fixed to the first driven portion that opens and closes the plurality of grasping portions, one of the plurality of second wires is fixed to the second driven portion that bends the forceps device in a first direction, and another of plurality of second wire is fixed to the third driven portion that bends the forceps device in a second direction different from the first direction.
13 . The surgical device according to claim 12 , wherein the first driven portion, the second driven portion, and the third driven portion linearly move in parallel with each other in the first direction, and are arranged in the second direction that intersects the first direction, and
wherein the first driven portion, the second driven portion, and the third driven portion are each arranged in a respective one of three long holes of the housing, and the first driven portion, the second driven portion, and the third driven portion are arranged relative to each other in the second direction as viewed in a direction in which the housing is attached to and detached from the adapter.
14 . The surgical device according to claim 11 , wherein the joint portion comprises:
an outer shell that is cylindrical;
a first through hole that is coaxial with the outer shell and through which the first wire passes; and
a second through hole disposed between the first through hole and the outer shell and through which the at least one second wire passes.
15 . The surgical device according to claim 11 , wherein the at least one second wire includes two second wires, and
wherein the joint portion comprises:
an outer shell that is cylindrical;
a first through hole that is coaxial with the outer shell and through which the first wire passes; and
two second through holes disposed between the first through hole and the outer shell, the two second wires passing through respective ones of the two second through holes.
16 . The surgical device according to claim 11 , wherein the at least one second wire includes a plurality of second wires, and
wherein the joint portion comprises:
an outer shell that is cylindrical;
a first through hole that is coaxial with the outer shell and through which the first wire passes; and
a plurality of second through holes disposed between the first through hole and the outer shell, the plurality of second wires passing through respective ones of the plurality of second through holes.
17 . The surgical device according to claim 16 , wherein the plurality of second through holes are radially spaced apart from one another around the first through hole.
18 . The surgical device according to claim 12 , wherein the first driven portion, the second driven portion, and the third driven portion linearly move in parallel with each other in the first direction, and
wherein the first driven portion, the second driven portion, and the third driven portion are arranged relative to each other in the second direction such that the first driven portion, the second driven portion, and the third driven portion do not overlap with each other as viewed in a direction in which the housing is attached to and detached from the adapter.