Multi-degree-of-freedom forceps
A multi-degree-of-freedom forceps includes a insertion portion that has a first bending portion and a second bending portion connected to each other at both ends via an operating member; a treatment portion that is attached to the first bending portion and is used for tissue treatment; and an operating portion that is attached to the second bending portion to bend the second bending portion to thereby bend the first bending portion. The operating portion has a handle body capable of being swung relative to the insertion portion with the second bending portion as an operation center. The handle body has a grip portion that is gripped by a user in use. The grip portion is provided around the operation center or closer to the insertion portion side than the operation center.
1. A multi-degree-of-freedom forceps system comprising:
a multi-degree-of-freedom forceps comprising:
an insertion portion which is longitudinal, extends along a longitudinal axis, and has a joint portion at a proximal end portion,
an operating portion which has a handle body, the handle body being coupled to the joint portion so as to be rotatable in a direction intersecting the longitudinal axis of the insertion portion, and the handle body being provided so as to be capable of swinging and operating relative to the insertion portion,
a bending portion which is provided at a distal end portion of the insertion portion so as to be bendable relative to the longitudinal axis of the insertion portion according to a swinging operation of the handle body relative to the insertion portion, and
a bending locking mechanism which enables fixation of the rotation of the insertion portion in the direction intersecting the longitudinal axis of the insertion portion relative to the handle body, and release of the fixation; and
an access port that is mountable on a body wall, the access port comprising:
a port portion into which the insertion portion is inserted, and
a pivot portion that supports the insertion portion so that the insertion portion is movable along the longitudinal axis of the insertion portion, and that supports the insertion portion so that only the insertion portion is pivotally operable relative to the access port,
wherein:
the pivot portion has a pivot locking mechanism which is capable of locking at least one of a pivot operation of the insertion portion with respect to the access port, and a longitudinal movement of the insertion portion in a direction of the longitudinal axis of the insertion portion,
the pivot portion includes:
a first tubular portion that is provided inside the port portion along a longitudinal axis of the pivot portion,
a second tubular portion that is connected end-to-end with the first tubular portion in a direction along the longitudinal axis of the pivot portion, and
a spherical portion that is disposed between the first tubular portion and the second tubular portion and into which only the insertion portion is inserted, the spherical portion being configured to rotate with respect to the first tubular portion and the second tubular portion so as to be capable of oscillating relative to the port portion, and
the operating portion includes a switching operating portion which is connected to the bending locking mechanism and the pivot locking mechanism and which switches the lock or the release of each of the bending locking mechanism and the pivot locking mechanism.
2. The multi-degree-of-freedom forceps system according to claim 1 , wherein the switching operating portion further performs switching to a state where the bending locking mechanism and the pivot locking mechanism are both released.
3. The multi-degree-of-freedom forceps system according to claim 1 , wherein:
a distal end portion of a locking member of the bending locking mechanism is provided so as to be movable from a position apart from the joint portion to a position where the distal end portion of the locking member is locked to the joint portion, and
as the distal end portion of the locking member is locked to the joint portion, the locking member fixes the handle body to the insertion portion in the direction intersecting the longitudinal axis of the insertion portion.
4. The multi-degree-of-freedom forceps system according to claim 1 , wherein:
a movable member of the pivot locking mechanism is provided so as to be movable from a position apart from the pivot portion to a position where the pivot portion is pressed, and
as the movable member presses the pivot portion, the pivot locking mechanism locks at least one of the pivot operation and the longitudinal movement of the insertion portion.
5. The multi-degree-of-freedom forceps system according to claim 1 , further comprising:
a treatment portion that is attached to the bending portion and is used for tissue treatment,
wherein:
the operating portion has a rotating knob that is provided apart from the longitudinal axis of the insertion portion and rotates the treatment portion relative to the insertion portion, and
the rotating knob is connected to the treatment portion via a shaft having flexibility.
6. The multi-degree-of-freedom forceps system according to claim 1 , wherein:
the operating portion is attached to the joint portion so as to be capable of swinging relative to the insertion portion,
the joint portion has a spherical first member, and a spherical second member that is attached so as to be rotatable around a first rotation axis of the first member, and
the handle body is attached so as to be rotatable around a second rotation axis of the second member, the second rotation axis being orthogonal to the first rotation axis.
7. The multi-degree-of-freedom forceps system according to claim 6 , wherein:
an outer periphery of the first member is formed with a first engaging protrusion,
an outer periphery of the second member is formed with a second engaging protrusion,
the first member and the second member are arranged so that a first plane including the first engaging protrusion and a second plane including the second engaging protrusion intersect each other, and
the bending direction of the bending portion is regulated so that the bending portion bends along the first plane and the second plane.
8. The multi-degree-of-freedom forceps system according to claim 1 , wherein the operating portion is attached to the insertion portion via a biaxial gimbal structure.
9. The multi-degree-of-freedom forceps system according to claim 1 , wherein the switching state of the switching operating portion is maintained even if a user removes user's hand from the switching operating portion.
10. The multi-degree-of-freedom forceps system according to claim 1 , wherein a radial cross-section of the insertion portion is non-circular and is impossible to rotate relative to the access port when the access port is attached to a patient.
11. The multi-degree-of-freedom forceps system according to claim 1 , wherein the spherical portion has a through hole, and a part of the spherical portion is arranged in a lumen of the first tubular portion and the second tubular portion so as to be held by the first tubular portion and the second tubular portion.
12. The multi-degree-of-freedom forceps system according to claim 11 , wherein:
a radial cross-section of the insertion portion is non-circular and is impossible to rotate relative to the spherical portion, and
if a force equal to or more than a predetermined value is applied, the insertion portion rotates relative to the first tubular portion and the second tubular portion together with the spherical portion.
13. The multi-degree-of-freedom forceps system according to claim 11 , wherein:
the pivot locking mechanism is configured to include the spherical portion, and a rail member attached to the insertion portion, and
the spherical portion has a bearing that reduces the advance or retreat resistance of the insertion portion inserted through the through hole.
14. The multi-degree-of-freedom forceps system according to claim 11 , wherein the pivot portion has an airtight portion that is provided in the lumen of at least one of the first tubular portion and the second tubular portion and maintains an airtight state of an inner cavity of the access port.
15. The multi-degree-of-freedom forceps system according to claim 11 , wherein the pivot portion is detachable relative to the access port.
16. The multi-degree-of-freedom forceps system according to claim 11 , wherein the access port has an airtight portion that maintains an airtight state of a lumen of the access port when the pivot portion is not attached.
17. The multi-degree-of-freedom forceps system according to claim 1 , further comprising:
a treatment portion which is attached to the bending portion and is used for tissue treatment,
wherein:
the treatment portion has a pair of forceps pieces that can be opened and closed,
the operating portion has a second operating portion that is connected to the pair of forceps pieces and is configured to open and close the forceps pieces, and
the second operating portion is rotatably attached to the handle body.
18. The multi-degree-of-freedom forceps system according to claim 1 , further comprising:
a treatment portion which is attached to the bending portion and is used for tissue treatment,
wherein:
the operating portion has a rotating knob that rotates the treatment portion relative to the insertion portion, and
the rotating knob is connected to the treatment portion at a position closer to a distal end side than a proximal end portion of the insertion portion.
19. The multi-degree-of-freedom forceps system according to claim 1 , wherein:
the operating portion has a grip portion that is provided around the joint portion and is elastically deformable, and
the frictional force between the grip portion and the joint portion changes when the grip portion is elastically deformed to change contact pressure with the joint portion.
20. The multi-degree-of-freedom forceps system according to claim 1 , wherein the insertion portion is rigid.