Surgical instrument holding device and surgery assisting device
A surgical instrument holding device includes a holding body, an adapter, a separator, and a driving body. The holding body holds a surgical instrument. The adapter receives the surgical instrument and is disposed between the surgical instrument and the holding body. The separator is provided between the adapter and the holding body and includes a receiving portion that receives the adapter. The driving body supplies a driving force to the holding body to drive the surgical instrument. The adapter includes a pressing portion and an engaging portion, and when the receiving portion of the separator receives the adapter, the pressing portion contacts the receiving portion and the engaging portion engages the receiving portion to attach the adapter to the separator.
1 . A surgical instrument holding device comprising:
an adapter from which a surgical instrument is detachable;
a separator from which the adapter is detachable;
a holding body from which the separator is detachable; and
a driving body configured to support the holding body in a rotatable manner and apply a driving force to the holding body, wherein
the separator is provided with a receiving portion,
the adapter is provided with an engaging portion that is elastically deformed at a time of attachment of the adapter to the separator and a pressing portion that is pressed against the receiving portion at the time of attachment of the adapter to the separator, and
the adapter is attached to the separator by pressing of the pressing portion against the receiving portion and engagement of the engaging portion with the receiving portion in a state in which the engaging portion is elastically restored, the engaging portion being engaged with the receiving portion from a direction opposite to a direction in which the pressing portion is pressed against the receiving portion.
2 . The surgical instrument holding device according to claim 1 , wherein
the engaging portion is formed in a shape that projects from the pressing portion,
the engaging portion is provided with a proximal end portion that is continuous with the pressing portion and that extends in a direction of projecting from the pressing portion, a folded portion continuous with the proximal end portion and formed in a folded shape, an outside portion continuous with the folded portion and positioned on a peripheral side of the pressing portion, at least a part of the outside portion being opposed to the proximal end portion, and an engaging pawl portion continuous with the outside portion and bent with respect to the outside portion in a direction of approaching the pressing portion, and
the engaging pawl portion is configured to be engaged with the receiving portion.
3 . The surgical instrument holding device according to claim 2 , wherein
the receiving portion is provided with an engagement receiving portion, and
the engaging pawl portion is configured to be engaged with the engagement receiving portion on an opposite side of the receiving portion from the pressing portion.
4 . The surgical instrument holding device according to claim 3 , wherein:
a direction in which parts of the engaging portion are continuous with one another is set as a length direction, while a direction that is orthogonal to the length direction and connects an inner circumferential surface and an outer circumferential surface to each other is set as a thickness direction, and
a thickness of the proximal end portion is less than a thickness of the engaging pawl portion.
5 . The surgical instrument holding device according to claim 4 , wherein
a thickness of the outside portion is greater than the thickness of the proximal end portion.
6 . The surgical instrument holding device according to claim 2 , wherein:
a direction in which parts of the engaging portion are continuous with one another is set as a length direction, while a direction that is orthogonal to the length direction and connects an inner circumferential surface and an outer circumferential surface to each other is set as a thickness direction, and
a thickness of the proximal end portion is less than a thickness of the engaging pawl portion.
7 . The surgical instrument holding device according to claim 3 , wherein:
the engaging portion is a second engaging portion and the engagement receiving portion is a second engagement receiving portion,
the holding body is provided with a first engagement receiving portion,
the separator is provided with a first engaging portion that is elastically deformed and engaged with the first engagement receiving portion at a time of attachment of the separator to the holding body, and
the separator is attached to the holding body by engagement of the first engaging portion with the first engagement receiving portion in a state in which the first engaging portion is elastically restored.
8 . The surgical instrument holding device according to claim 4 , wherein:
the engaging portion is a second engaging portion and the engagement receiving portion is a second engagement receiving portion,
the holding body is provided with a first engagement receiving portion,
the separator is provided with a first engaging portion that is elastically deformed and engaged with the first engagement receiving portion at a time of attachment of the separator to the holding body, and
the separator is attached to the holding body by engagement of the first engaging portion with the first engagement receiving portion in a state in which the first engaging portion is elastically restored.
9 . The surgical instrument holding device according to claim 5 , wherein:
the engaging portion is a second engaging portion and the engagement receiving portion is a second engagement receiving portion,
the holding body is provided with a first engagement receiving portion,
the separator is provided with a first engaging portion that is elastically deformed and engaged with the first engagement receiving portion at a time of attachment of the separator to the holding body, and
the separator is attached to the holding body by engagement of the first engaging portion with the first engagement receiving portion in a state in which the first engaging portion is elastically restored.
10 . A surgery assisting device comprising the surgical instrument holding device according to claim 1 .
11 . A surgical instrument holding device comprising:
a holding body configured to hold a surgical instrument;
an adapter which is configured to receive the surgical instrument, the adapter being disposed between the surgical instrument and the holding body;
a separator that is provided between the adapter and the holding body, the separator comprising a receiving portion that is configured to receive the adapter; and
a driving body configured to supply a driving force to the holding body to drive the surgical instrument,
wherein the adapter comprises a pressing portion and an engaging portion,
when the receiving portion of the separator receives the adapter, the pressing portion contacts and presses against the receiving portion, and the engaging portion engages the receiving portion from a direction opposite to a direction in which the pressing portion presses against the receiving portion, to attach the adapter to the separator.
12 . The surgical instrument holding device according to claim 11 , wherein the holding body, the adapter and the separator are coaxial.
13 . The surgical instrument holding device according to claim 11 , wherein:
the engaging portion projects from the pressing portion,
the engaging portion comprises a proximal end portion that extends proximal to and axially from the pressing portion, an outside portion parallel to the proximal end portion, a folded portion that connects the proximal end portion and the outside portion, and a pawl portion provided at a distal end of the outside portion, the pawl portion extending radially toward an axis of the adapter, and
the pawl portion is configured to engage the receiving portion when the receiving portion of the separator receives the adapter.
14 . The surgical instrument holding device according to claim 13 , wherein:
the receiving portion comprises an engagement receiving portion, and
the pawl portion engages with the engagement receiving portion when the receiving portion of the separator receives the adapter.
15 . The surgical instrument holding device according to claim 14 , wherein a thickness of the proximal end portion in a radial direction is less than a thickness of the pawl portion in the radial direction.
16 . The surgical instrument holding device according to claim 15 , wherein a thickness of the outside portion in the radial direction is greater than the thickness of the proximal end portion in the radial direction.
17 . A surgical instrument holding device comprising:
a holding body configured to hold a surgical instrument;
an adapter which is configured to receive the surgical instrument, the adapter being disposed between the surgical instrument and the holding body;
a separator that is provided between the adapter and the holding body, the separator comprising a first flange having a hole through which the adapter is received; and
a driving body configured to supply a driving force to the holding body to drive the surgical instrument,
wherein the adapter comprises a second flange, and a clip disposed on the second flange, and
when the first flange receives the adapter, the second flange contacts and presses against the first flange and the clip engages the first flange from a direction opposite to a direction in which the second flange presses against the first flange, to attach the adapter to the separator.
18 . The surgical instrument holding device according to claim 17 , wherein the holding body, the adapter and the separator are coaxial.
19 . The surgical instrument holding device according to claim 18 , wherein the second flange comprises a tubular portion that projects distally from the second flange, and an attachment member disposed between the tubular portion and the separator, the tubular portion being received in the attachment member when the first flange receives the adapter.
20 . The surgical instrument holding device according to claim 17 , wherein the clip is integrally formed with the second flange.