Forceps device
A forceps device includes grasping portions, a support holding the grasping portions, a first rotating shaft that turnably supports the support, a base member that holds the first rotating shaft, first wires that transmit driving forces to move the grasping portions, first guide pulleys arranged coaxially with the first rotating shaft, the first wires running over the first guide pulleys, respectively, and second guide pulleys arranged upstream of the first guide pulleys, the first wires running over the second guide pulleys, respectively. The second guide pulleys are shifted toward one side relative to a position immediately below the first guide pulleys when the first rotating shaft is viewed in front in an axial direction in a state in which a leading end of the grasping portions points upward, and arranged so that a winding angles γ of the first wires respectively around the first guide pulleys are 65° or larger.
1 . A forceps device comprising:
a grasping part;
a support that holds the grasping part;
a first rotating shaft that turnably supports the support;
a base member that holds the first rotating shaft;
a plurality of grasping-portion wires that transmit driving forces to move the grasping part;
a plurality of first guide pulleys arranged coaxially with the first rotating shaft, the plurality of grasping-portion wires running over the plurality of first guide pulleys;
a plurality of second guide pulleys arranged upstream of the plurality of first guide pulleys on a side opposite the grasping part, the plurality of grasping-portion wires running over the plurality of second guide pulleys; and
a plurality of third guide pulleys arranged upstream of the plurality of second guide pulleys on the side opposite the grasping part, the plurality of grasping-portion wires running over the plurality of third guide pulleys,
wherein the plurality of second guide pulleys are:
shifted toward one side relative to a position immediately below the plurality of first guide pulleys when the first rotating shaft is viewed in front in an axial direction in a state in which a leading end of the grasping part points upward; and
arranged so that a plurality of winding angles γ of the plurality of grasping-portion wires around the plurality of first guide pulleys are 65° or larger at a neutral position at which the support is not turned to left or right.
2 . The forceps device according to claim 1 , wherein each of the plurality of winding angles γ are 89° or larger.
3 . The forceps device according to claim 2 ,
wherein the plurality of third guide pulleys are:
shifted toward the one side relative to the position immediately below the plurality of first guide pulleys when the first rotating shaft is viewed in front in the axial direction in the state in which the leading end of the grasping part points upward; and
shifted toward the other side relative to the position immediately below the plurality of second guide pulleys when the first rotating shaft is viewed in front in the axial direction in the state in which the leading end of the grasping part points upward.
4 . The forceps device according to claim 3 , wherein:
the base member is cylindrical and has an outer diameter of 7 mm to 9 mm,
each of the plurality of first guide pulleys have a diameter of 3.0 mm to 3.6 mm,
each of the plurality of second guide pulleys have a diameter of 3.0 mm to 3.6 mm, and
each of the plurality of third guide pulleys have a diameter of 3.0 mm to 3.6 mm.
5 . The forceps device according to claim 3 , wherein:
the plurality of third guide pulleys comprise two third guide pulleys arranged on respective sides of an inner wall of the base member, and
the two third guide pulleys are rotatably supported by different support shafts, respectively, held by the base member.
6 . The forceps device according to claim 5 , wherein:
the base member is cylindrical and has an outer diameter of 7 mm to 9 mm,
each of the plurality of first guide pulleys have a diameter of 3.0 mm to 3.6 mm,
each of the plurality of second guide pulleys have a diameter of 3.0 mm to 3.6 mm, and
each of the plurality of third guide pulleys have a diameter of 3.0 mm to 3.6 mm.
7 . The forceps device according to claim 1 ,
wherein the plurality of third guide pulleys are:
shifted toward the one side relative to the position immediately below the plurality of first guide pulleys when the first rotating shaft is viewed in front in the axial direction in the state in which the leading end of the grasping part points upward; and
shifted toward the other side relative to immediately below the plurality of second guide pulleys when the first rotating shaft is viewed in front in the axial direction in the state in which the leading end of the grasping part points upward.
8 . The forceps device according to claim 7 , wherein:
the base member is cylindrical and has an outer diameter of 7 mm to 9 mm,
each of the plurality of first guide pulleys have a diameter of 3.0 mm to 3.6 mm,
each of the plurality of second guide pulleys have a diameter of 3.0 mm to 3.6 mm, and
each of the plurality of third guide pulleys have a diameter of 3.0 mm to 3.6 mm.
9 . The forceps device according to claim 8 , wherein:
the plurality of third guide pulleys comprise two third guide pulleys arranged on respective sides of an inner wall of the base member, and
the two third guide pulleys are rotatably supported by different support shafts, respectively, held by the base member.
10 . The forceps device according to claim 7 , wherein:
the plurality of third guide pulleys comprise two third guide pulleys arranged on respective sides of an inner wall of the base member, and
the two third guide pulleys are rotatably supported by different support shafts, respectively, held by the base member.
11 . A forceps device comprising:
a plurality of grasping portions;
a support that holds the plurality of grasping portions;
a first rotating shaft that turnably supports the support;
a base member that holds the first rotating shaft;
a plurality of first wires that transmit driving forces to move the plurality of grasping portions;
a plurality of first guide pulleys arranged coaxially with the first rotating shaft, the plurality of first wires running over the plurality of first guide pulleys, respectively; and
a plurality of second guide pulleys arranged upstream of the plurality of first guide pulleys on a side opposite the plurality of grasping portions, the plurality of first wires running over the plurality of second guide pulleys, respectively; and
a plurality of third guide pulleys arranged upstream of the plurality of second guide pulleys on the side opposite the plurality of grasping portions, the plurality of first wires running over the plurality of third guide pulleys, respectively,
wherein the plurality of second guide pulleys are:
shifted toward one side relative to a position immediately below the plurality of first guide pulleys when the first rotating shaft is viewed in front in an axial direction in a state in which a leading end of the plurality of grasping portions points upward; and
arranged so that a plurality of winding angles γ of the plurality of first wires respective around the plurality of first guide pulleys are 65° or larger at a neutral position at which the support is not turned to left or right.
12 . The forceps device according to claim 11 , wherein each of the plurality of winding angles γ are 89° or larger.
13 . The forceps device according to claim 12 ,
wherein the plurality of third guide pulleys are:
shifted toward the one side relative to the position immediately below the plurality of first guide pulleys when the first rotating shaft is viewed in front in the axial direction in the state in which the leading end of the plurality of grasping portions points upward; and
shifted toward the other side relative to the position immediately below the plurality of second guide pulleys when the first rotating shaft is viewed in front in the axial direction in the state in which the leading end of the plurality of grasping portions points upward.
14 . The forceps device according to claim 13 , wherein:
the base member is cylindrical and has an outer diameter of 7 mm to 9 mm,
each of the plurality of first guide pulleys have a diameter of 3.0 mm to 3.6 mm,
each of the plurality of second guide pulleys have a diameter of 3.0 mm to 3.6 mm, and
each of the plurality of third guide pulleys have a diameter of 3.0 mm to 3.6 mm.
15 . The forceps device according to claim 13 , wherein:
the plurality of third guide pulleys comprise two third guide pulleys arranged on respective sides of an inner wall of the base member, and
the two third guide pulleys are rotatably supported by different support shafts, respectively, held by the base member.
16 . The forceps device according to claim 15 , wherein:
the base member is cylindrical and has an outer diameter of 7 mm to 9 mm,
each of the plurality of first guide pulleys have a diameter of 3.0 mm to 3.6 mm,
each of the plurality of second guide pulleys have a diameter of 3.0 mm to 3.6 mm, and
each of the plurality of third guide pulleys have a diameter of 3.0 mm to 3.6 mm.
17 . The forceps device according to claim 11 ,
wherein the plurality of third guide pulleys are:
shifted toward the one side relative to the position immediately below the plurality of first guide pulleys when the first rotating shaft is viewed in front in the axial direction in the state in which the leading end of the plurality of grasping portions points upward; and
shifted toward the other side relative to immediately below the plurality of second guide pulleys when the first rotating shaft is viewed in front in the axial direction in the state in which the leading end of the plurality of grasping portions points upward.
18 . The forceps device according to claim 17 , wherein:
the base member is cylindrical and has an outer diameter of 7 mm to 9 mm,
each of the plurality of first guide pulleys have a diameter of 3.0 mm to 3.6 mm,
each of the plurality of second guide pulleys have a diameter of 3.0 mm to 3.6 mm, and
each of the plurality of third guide pulleys have a diameter of 3.0 mm to 3.6 mm.
19 . The forceps device according to claim 18 , wherein:
the plurality of third guide pulleys comprise two third guide pulleys arranged on respective sides of an inner wall of the base member, and
the two third guide pulleys are rotatably supported by different support shafts, respectively, held by the base member.
20 . The forceps device according to claim 17 , wherein:
the plurality of third guide pulleys comprise two third guide pulleys arranged on respective sides of an inner wall of the base member, and
the two third guide pulleys are rotatably supported by different support shafts, respectively, held by the base member.